Automatic locking mechanism and clamping devices with automatic locking mechanism

ABSTRACT

An automatic locking mechanism can include one or more annular elements having teeth facing each other or facing away from each other. The automatic locking mechanism can include a rod disposed between the annular elements. The rod can have one or more pins configured to interface with the teeth of the annular elements. The pins and the teeth are also configured to rotate the rod when the annular elements move relative to the rod. The rotation of the rod can toggle a hook end of the rod in a hook receptacle, which can change states of the locking mechanism.

The present application is continuation and claims priority from U.S.Utility patent application Ser. No. 16/381,378, filed on Apr. 11, 2019,which claims priority from U.S. Provisional Patent Application Ser. No.62/692,676, filed on Jun. 30, 2018, entitled: “Clamping devices withautomatic triggers”, which is incorporated herein by reference.

The present invention relates to automatic triggers and clamping devicesusing the automatic triggers. The clamping devices can be used forlifting and transferring objects such as metal or ceramic plates.

BACKGROUND

In the heavy industry, large and heavy products can be difficult tohandle manually. Thus, a hoist connecting to a clamping device can beused to lift and move heavy objects. An object can be clamped to aclamping device that is coupled to a hoist. The hoist can lift theobject to a certain height, and then transfer to a proper location.

The clamping devices can utilize a mechanism that converts the weight ofthe object into a clamping force, thus the holding force on the objectexerted by the clamping devices can be proportional to the weight of theobject. A loading and unloading device, such as a crane or a hoist, canbe coupled to the clamping device for lifting and transferring theobjects.

A basic prior art clamping device can include a rotatable clamping jaw,which can rotate to change a spacing distance to a fixed clamping jaw.Rotation of the rotatable clamping jaw can enlarge or narrow thedistance between the two clamp jaws. For example, an object can beplaced between the two jaws from a bottom position, and the pushedupward toward the gap between the two jaws. The upward motion of theobject can cause a clockwise rotation of the rotatable clamping jaw,which can make the distance between the two jaws larger, to accommodatean object. After the object is placed between the two jaws, the weightof the object can cause the object to move downward. The downward motionof the object can cause a counterclockwise rotation of the rotatableclamping jaw, which can narrow the distance between the two jaws, or toexert a clamping force on the object.

FIGS. 1A and 1B illustrate a prior art clamping device according to someembodiments. The clamping device can include a gripping device normallyfabricated from structural steel components, that are designed tosecurely hold and lift construction materials though a scissor movement.The gripping device can use freely rotating pin connections to create ascissor configuration with two scissor arms.

A first end of the scissor arms is configured to rotate towards eachother in reaction to the opposite second end of the scissor arms beinglifted vertically. The first end of the scissor arms rotate inwards andgenerate a compression force clamping on the object to be lifted.Essentially, the weight of the object is used to generate this clampingaction.

A clamping device 100 can include two scissor arms 130 and 135, whichcan freely rotate about a pivot point 130A. The scissor arms 130 and 135can include upper arms 131 and 136, together with lower arms 132 and137, respectively, connected at the freely rotating pivot 130A.

The upper arms 131 and 136 can be coupled to pulling elements 111 and115, respectively. The coupling between the upper arms and the pullingelements can include freely rotating pin connections, e.g., the pullingelement 111 and 115 can be rotated relative to the upper arm 131 and136. The pulling elements 111 and 115 can be coupled to a lift 110, suchas a hoist. The coupling between the pulling elements and the lift caninclude freely rotating pin connections, e.g., the pulling elements 111and 115 can be rotated relative to the lift 140.

The lower arms 132 and 137 can be coupled to left and right clamps,e.g., holding pads for holding the object, 140 and 145, respectively.The coupling between the lower arms and the holding pads can includefreely rotating pin connections, e.g., the holding pads 140 and 145 canbe rotated relative to the lower arm 132 and 137.

In operation, an object 120 is placed between the holding pads 140 and145. The lift 110 is pulled up, which pulls on the pulling elements 111and 115. The pulling elements 111 and 115 can in turn pull on the upperarms 131 and 136. The scissor movement between the upper arms 131 and136 and the lower arms 132 and 137 around the pivot point 130A can turnthe pulling action on the upper arm 131 and 136 into a pressing actionof the lower arm 132 and 137, which presses on the object 120 throughthe holding pads 140 and 145.

As shown in FIG. 1A, the clamping device 100 operates well to hold theobject 120 for lifting and then moving to new location. The weight ofthe object can be converted to a gripping force from the holding padsfor securing the object.

Disadvantages of the clamping devices can include weak handlingoperations, such as requiring multiple operators for handling. Forexample, when the empty gripper device is pulled up, the holding padsare pressed together (FIG. 1B). Thus when the empty gripper is loweredto approach the object, another operator might be needed to manuallyseparate the holding pads to place the object between the holding pads.

SUMMARY OF THE EMBODIMENTS

In some embodiments, the present invention discloses an automaticlocking mechanism, and clamping devices incorporating the automaticlocking mechanism. The automatic locking mechanism can use the up anddown movements of the clamping device, e.g., the lowering action and theraising action of a hoist on the clamping device, to toggle the jawsbetween a locked state in which the jaws are fixedly separated and anunlocked state in which the jaws can move to clamp on an object. Theautomatic locking mechanism can allow the clamping device to approach anobject with the jaws separated for placing the object between the jaws.The automatic locking mechanism can allow the clamping device to keepthe jaws separated for leaving the object on the ground when theclamping device is lifted up.

The automatic locking mechanism can employ slanting surfaces, to convertthe up and down movements into a rotational movement. The rotationalmovement can toggle a latch between locked and unlocked states, forexample, by a hook end mating with a hook receptacle.

The automatic locking mechanism can include one or more annular elementshaving teeth facing each other or facing away from each other. Thearrangement of the teeth can be cyclic, with each tooth having a curveslanting surface such as a helical surface, followed by an abruptsurface after reaching a peak of the tooth. At the bottom of the abruptsurface, there can be a valley point, which can be the starting pointfor the next helical surface, e.g., the helical surface of the adjacenttooth.

The automatic locking mechanism can include a rod disposed between theannular elements. The rod can have one or more pins configured tointerface with the teeth of the annular elements. When the annularelements move toward the pins, the pins can contact the helical surfacesand then move along the helical surface to rest on the valley point. Themoving of the pins along the helical surfaces can rotate the rod, whichcan toggle the hook end of the rod in a hook receptacle, which canchange states of the locking mechanism.

In some embodiments, the automatic locking mechanism can be optimized,for example, having a support element to support the annular elements ina pulling away movement of the annular elements relative to the rod.Other optimizations can include angling the teeth to achieve between 40and 50 degree helical surface, for high rotational force with lowbacklash distance. The optimizations can include spacing the annularelements with a pin disposed in between, or spacing the pins sandwichingthe annular elements, to minimize the backlash distance. The teeth canbe chamfer to prevent catching the pins, and to further minimized thebacklash distance.

The automatic locking mechanism can be used in clamping devices usingscissor mechanisms, in clamping devices using half scissor mechanisms,in clamping devices using slanting surface mechanisms, and in clampingdevices using rotational mechanisms.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A-1B illustrate a prior art clamping device according to someembodiments.

FIGS. 2A and 2B illustrate operations of a clamping device having anautomatic locking mechanism according to some embodiments.

FIGS. 3A-3C illustrate a schematic of a locking mechanism according tosome embodiments.

FIGS. 4A-4C illustrate a configuration of the locking mechanismaccording to some embodiments.

FIGS. 5A-5D illustrate a schematic configuration for a locking mechanismor assembly according to some embodiments.

FIGS. 6A-6L illustrate a toggle process from an unlocked state to alocked state according to some embodiments.

FIGS. 7A-7L illustrate a toggle process from a locked state to anunlocked state according to some embodiments.

FIGS. 8A-8D illustrate optimized configurations for the locking assemblyaccording to some embodiments.

FIGS. 9A-9E illustrate another schematic configuration for a lockingmechanism or assembly according to some embodiments.

FIGS. 10A-10C illustrate a toggle process from an unlocked state to alocked state according to some embodiments.

FIGS. 11A-11C illustrate a toggle process from a locked state to anunlocked state according to some embodiments.

FIGS. 12A-12D illustrate optimized configurations for the lockingassembly according to some embodiments.

FIGS. 13A-13C illustrate a locking feature of the hook end of a rod witha hookable feature of a hook receptacle according to some embodiments.

FIGS. 14A-14D illustrate a toggling configuration of the lockingmechanism according to some embodiments.

FIGS. 15A-15D illustrate another toggling configuration of the lockingmechanism according to some embodiments.

FIGS. 16A-16C illustrate flow charts for operating a locking mechanismaccording to some embodiments.

FIGS. 17A-17B illustrate flow charts for operating a locking mechanismaccording to some embodiments.

FIG. 18 illustrates a clamping device according to some embodiments.

FIGS. 19A-19B illustrate processes for operating a clamping deviceaccording to some embodiments.

FIG. 20A-20B illustrate a clamping device according to some embodiments.

FIGS. 21A-21B illustrate processes for operating a clamping deviceaccording to some embodiments.

FIGS. 22A-22B illustrate a clamping device according to someembodiments.

FIGS. 23A-23B illustrate processes for operating a clamping deviceaccording to some embodiments.

FIGS. 24A-24B illustrate a clamping device according to someembodiments.

FIGS. 25A-25F illustrate another clamping device configuration accordingto some embodiments.

FIGS. 26A-26B illustrate processes for operating a clamping deviceaccording to some embodiments.

FIGS. 27A-27D illustrate a clamping device according to someembodiments.

FIGS. 28A-28B illustrate locking mechanisms for a clamping deviceaccording to some embodiments.

FIGS. 29A-29B illustrate operating processes for the automatic lockingmechanism according to some embodiments.

DETAILED DESCRIPTION OF THE EMBODIMENTS

In some embodiments, the present invention discloses an automaticlocking mechanism, and clamping devices incorporating the automaticlocking mechanism. A typical clamping device can operate on forceconversion principle, e.g., converting a pulling force on the clampingdevice into a side force of the jaws for clamping on the object. Inother words, there is a linkage between the vertical pulling force forlifting the clamping device and the horizontal force pushing the jawstogether. Thus, when the clamping device is pulled up, the linkage cancause the jaws to clamp on the object, securing the object between thejaws for lifting and moving.

However, when the clamping device is empty, e.g., not clamping on anobject, pulling the clamping device also activates the linkage to movethe jaws together. Without the object, the jaws can be moved togetheruntil the distance between the jaws becomes a minimum distance, e.g.,the jaws cannot move any closer. This can cause difficulties for anempty clamping device to capture an object, e.g., additional action isneeded to separate the jaws before the object can be placed between thejaws.

An automatic locking mechanism can include a mechanism for disengagingthe linkage, e.g., locking the linkage so that the jaws of the clampingdevice can remain stationary when the clamping device is lifted. Thus,when the locking mechanism is engaged, the linkage mechanism isdisengaged. The linkage disengagement can be automatic, e.g., activatedwhen the clamping device moves down and up for picking and lifting theobject. Thus the automatic locking mechanism can toggle the engagementand disengagement of the linkage during the operation of lifting andreleasing the object.

For example, the automatic locking mechanism can be engaged (or thelinkage is disengaged) when the clamping device is empty, e.g., withoutclamping on an object. In this locked status, the jaws remain open,e.g., separated, even when the clamping device is lifted up.

When the clamping device contact an object, the automatic lockingmechanism is automatically toggled from the locked status to an unlockstatus to release the linkage mechanism. In this unlocked status, thejaws move toward each other when the clamping device is lifted up.

In some embodiments, the present invention discloses an automaticlocking mechanism that can activate or deactivate a linkage between thepulling action and the side movements of the jaws. When the linkage isdeactivated, the pulling element can lift the clamping device withoutmoving the jaws. When the linkage is activated, lifting the pullingelement can move the jaws toward each other.

In some embodiments, the deactivation of the linkage can be performed byimmobilizing a movable element of the linkage, for example, when theclamping device, after bringing an object to the destination, is readyto leave. Thus when the jaws are opened at a maximum distance, themovable element of the linkage is immobilized, disconnecting the linkagebetween the pulling element and the jaws, which can keep the jaws widelyseparated even when the clamping device is lifted up.

The linkage can be re-activated when the clamping device, with the jawsseparated at a maximum distance, is positioned so that a new object isbetween the jaws. Thus, when the clamping device is pulled up, forexample, by pulling on the pulling element, the jaws move to clamp onthe object.

In some embodiments, the activation and deactivation of the linkage canbe performed automatically, for example, when a clamping device carryingthe object has finished delivering the object, and when the emptyclamping device contacts the object for clamping.

In some embodiments, the activation and deactivation of the linkage canbe provided by a locking assembly, which can toggle the linkage betweenbeing activated and deactivated, for example, through an automaticlocking mechanism.

In some embodiments, the present invention discloses a clamping deviceincorporating the automatic locking mechanism. The clamping device canbe used for lifting and/or transferring objects, such as metal, granite,ceramic, glass, quartz, or concrete plates.

The clamping device can include a pulling element, which can beconfigured to be coupled to a hoist for moving the clamping device upand down. The clamping device can include a jaw assembly that has twoopposite jaws. The jaw assembly can be configured for clamping on anobject. The clamping device can include a linkage mechanism between thepulling element and the jaw assembly. The linkage mechanism can beconfigured so that when the pulling element moves up, the jaws movetoward each other for clamping on the object.

The automatic locking mechanism can prevent the jaws from moving towardeach other when the clamping device is lifted up. The locking mechanismcan allow the jaws to remain open when desired, even during the liftingand moving of the clamping device. Normally, the clamping device isconfigured so that when one end of the clamping arm is pulled up, thejaws of the clamping device will clamp on the object. Thus when theempty clamping device is lifted up, the jaws are clamped together. Thiscan be detrimental, since the clamped jaws will need to be open toaccept the object. The locking mechanism can force the jaws open whenthere is no clamped object. Thus the empty clamping device with the openjaws can be lifted up and moved to the location of the object, at whichthe open jaws can accept the object. The mechanism is then released, andthe jaws can be clamped together when lifted up to hold the object formoving.

The locking mechanism can secure the top arm portion, e.g., to preventthe top arm portion from moving up/down or sideways. For example, thetop arm portion can be locked to the pivotal point between the top armportion and the bottom arm portion, or to any element fixedly coupled tothe pivotal point. The top arm portion can be locked to an intermediatepivot within the top arm portion.

In some embodiments, the locking mechanism, e.g., the mechanism that canlock the jaws into the open state until being released, can include amechanism that couples a hoist portion of the clamping device, e.g., theportion of the clamping device that is coupled to a hoist for pullingthe clamping device, with a fixed component such as the fixed jaws or apivot bar connecting the pivot points of the scissor mechanisms. Thus,the mechanism can be configured so that if being locked, the hoistportion can move together with the pivot points, so that the scissormechanisms cannot function. In this configuration, the hoist portion isthen decoupled from the scissor mechanisms, and thus when lifted up, thejaws remain open. If the mechanism is released, the hoist portion can beseparated from the pivot points, so that the scissor mechanisms canfunction, e.g., clamping on the object. In this configuration, the hoistportion is then coupled to the scissor mechanisms, and thus when liftedup, the jaws can clamp on the object.

The locking mechanism can be automatic, meaning the mechanism can belocked or engaged, e.g., locking the jaws to keep the jaws separated, orunlocked or disengaged, e.g., unlocking the jaws to allow the jaws tomove toward each other. The automatic mechanism can be triggered oractivated when the clamping device touches the object, and can betoggled between engaging and disengaging the lock. For example, thelocking mechanism can be engaged, meaning the jaws can be widelyseparated and prevented from moving toward each other when the clampingdevice is lifted up. The clamping device can be lowered toward theobject, and after touching the object, the locking mechanism can bedisengaged, meaning the jaws can move toward each other when theclamping device is lifted up. The clamping device can be lifted up,which moves the jaws together to clamp on the object. The clampingdevice can move to a new location. The clamping device can lower theobject. When the object reaches the ground, the clamping device canlower further to touch the object, to trigger or activate the lockingmechanism to change the state of the locking mechanism. The lockingmechanism then can be engaged, meaning the jaws can be widely separatedand prevented from moving toward each other when the clamping device islifted up. The clamping device can then move up to move another object.Since the locking mechanism is engaged, the clamping device can lift upwithout moving the jaws.

The locking mechanism can be a hand-free or operator-free mechanism,which can allow switching between a clamping action of the jaws forclamping the object and non-clamping action of the jaws for insertingthe object. The hand-free mechanism can allow a single operator tooperate the clamping device for lifting and moving the object. Forexample, the locking mechanism can be activated or released by a pushingaction, for example, when the clamping device touches the object.

FIGS. 2A and 2B illustrate operations of a clamping device having anautomatic locking mechanism according to some embodiments. A clampingdevice 200 can include a pulling element 210, which can be coupled to ahoist for lifting and moving the clamping device. The clamping device200 can include two opposite facing jaws 240, which can clamp on anobject. The clamping device 200 can include a linkage mechanism 230,which couples the pulling element 210 with the jaws 240. The clampingdevice 200 can include an automatic locking mechanism 250, for lockingor unlocking the linkage mechanism 230.

FIG. 2A shows a locking configuration 250A, e.g., the automatic lockingmechanism is engaged or locked, which can lock the linkage mechanismfrom moving, such as disengaging the linkage mechanism between twocomponents of a clamping device 200. In this locking configuration, thejaws remain widely separated even when the empty clamping device islifted up and moved to approach an object 220 for picking up. Forexample, the automatic locking mechanism 250 can include two lockingelements 251 and 252. Locking element 251 can be coupled to the pullingelement 210. Locking element 252 can be coupled to the pivot point 230Aof the linkage mechanism 230. Other coupling locations can be used, suchas coupling two arms of the linkage mechanism 250.

In the locking configuration 250A, the two elements are coupledtogether, e.g., one element cannot move relative to the other element.Thus, the pulling element cannot move relative to the pivot point, andthe jaws remain as they were when the clamping device is lifted up. Thusthe clamping device can approach an object 220 with the jaws widelyseparated. The clamping device can be positioned above the object, andthen lowered to place the object between the jaws.

In the unlocking configuration 250B, the two elements are separatable,e.g., one element can move relative to the other element. Thus, thepulling element can move relative to the pivot point, and the jaws clamptogether when the clamping device is lifted up. Thus the clamping devicecan be lifted and then moved to a new location with the object securelyclamped between the two jaws.

The locking and unlocking configurations can be automatically toggled260 by up and down movements 261 of the clamping device. For example,the locking mechanism can be activated after the jaws are separated. Inthat way, the jaws are locked into a separate configuration, which canallow the clamping device to accept an object. For example, afterbringing an object to a destination, a pulling element of the clampingdevice can be lowered while the clamping device is stationary, e.g., thepulling element moves down relative to the clamping device. The loweringof the pulling element can move the jaws opened, e.g., separating thejaws apart. Thus the locking mechanism can be activated when the jawsare separated at a predetermined distance, such as a maximum separationdistance or a distance close to the maximum distance. For example, thejaws can be separated to a maximum distance to partially activate thelocking mechanism. When the pulling element reverses direction, e.g.,starts pulling up, the jaws can move closer together. The closingmovement of the jaws can complete the locking mechanism, preventing thejaws from moving further toward each other, and essentially keeping thejaws opened at a distance less than the maximum distance.

The locking mechanism can be partially deactivated by lowering thepulling element relative to the clamping device. The lowering of thepulling element can separate the jaws a little. Then the pulling elementcan be pulled up, complete the deactivation process. The jaws can movetoward each other, for clamping on the object.

In some embodiments, the automatic locking mechanism can be accomplishedby a two step activation. The automatic locking mechanism can first bepartially activated (or deactivated) by a lowering action of the pullingelement (which can be accomplished by lowering the hoist). The automaticlocking mechanism can complete the activation (or deactivation) processby a lifting action on the pulling element (which can also beaccomplished by lifting the hoist). Thus the automatic locking mechanismcan be automatic, e.g., performed by the same action of lowering andlifting the hoist for accepting, clamping, and transferring the object.

A typical activation of the automatic locking mechanism can include apartially activation by lowering the pulling element so that the jawscan pass a certain separation distance. The pulling element is loweredrelative to other elements of the clamping device, thus in someembodiments, the clamping device is rested against something, such as onthe object that the clamp device is carried and the object is placed onthe ground. Thus, the automatic locking mechanism can be partiallyactivated by lowering a hoist coupled to the clamping device carryingthe object so that the object contacts the ground. The hoist can then befurther lowered so that the jaws can be separated passing a certainseparation distance, for example, by moving a pulling element downrelative to the rest of the clamping device.

The automatic locking mechanism can then be completely activated bypulling up the pulling element, which can secure the jaws open, at thepreviously separation distance or at a separation distance smaller orslightly smaller than the previously separation distance, for example,due to the possibility that the jaws can move together a little afterthe pulling element is pulled up.

A typical deactivation of the automatic locking mechanism can include apartially deactivation by lowering the pulling element. The pullingelement can be previously not pullable up, due to the activation of theautomatic locking mechanism. Thus, the pulling element can partially bereleased from the activation of the automatic locking mechanism byreversing the movement, e.g., by lowering the pulling element. Thelowering of the pulling element can keep the jaws at the previousseparation distance, or can enlarge the separation distance, such asincreasing the separation distance by a small amount, for example, dueto the possibility that the jaws can move away from each other a littleafter the pulling element is lowered.

The pulling element is lowered relative to other elements of theclamping device, thus in some embodiments, the clamping device is restedagainst something, such as on the object that the clamp device is readyto pick up and the object is placed on the ground. Thus, the automaticlocking mechanism can be partially deactivated by lowering a hoistcoupled to the empty clamping device so that the clamping devicecontacts the object. The hoist can then be further lowered so that thepulling element can move down relative to the rest of the clampingdevice.

The automatic locking mechanism can then be completely deactivated bypulling up the pulling element, which can allow the jaws to move towardeach other.

The automatic locking mechanism can be incorporated in differentclamping devices. For example, the clamping device can include twopivoting arms moving two opposite jaws. The clamping device can includeone pivoting arm moving a movable jaw, and one stationary arm supportinga stationary jaw. The clamping device can include two slanting surfacesmoving two opposite jaws. The clamping device can include one slantingsurface moving one movable jaw, and one stationary jaw. The clampingdevice can include a rotatable slanting surface moving one movable jaw,and one stationary jaw.

Other configurations for the locking mechanism can be used, which cansecure any two components between the pulling element, the jaw, and thelinkage between the pulling element and the jaw. For example, a lockingmechanism can be between the pulling element and the jaw, or between thejaw and a component of the linkage mechanism.

FIGS. 3A-3C illustrate a schematic of a locking mechanism according tosome embodiments. FIG. 3A shows a schematic of a locking mechanism 350toggling between a locked (or engaged) state 350A and an unlocked (ordisengaged) state 350B.

The locking mechanism 350 can include 2 portions 351 and 352, which canbe secured together (in locked or engaged stated 350A), or can beseparatable from each other (in unlocked or disengaged state 350B). Thelocking mechanism can be a toggle mechanism, which can change statesusing a same set of activation mechanism. For example, the activationmechanism for the toggling operation 360 can include a set of up anddown forces 361 acting on one or both portions 351 and 352 of thelocking mechanism.

The toggling operation can include a conversion of a vertical force to arotational force, for example, through a slanting surface such as ahelical surface. The vertical force can be accomplished by the clampingdevice moving up or down. The rotational force can be used to activate arotational latch, which can be toggled between a latch position and anunlatch position.

FIGS. 3B(a)-(c) show a schematic process for automatically activatingthe locking mechanism. A locking mechanism can be configured to coupletwo movable components of a clamping device, such as a pulling element310 and a pivot point 330. The locking mechanism 350 can include a firstportion 351 which is coupled to the pulling element. The lockingmechanism can include a second portion 352 which is coupled to the pivotpoint.

The first portion can include annular elements 371 which are coupled tothe pulling element. The annular elements can be fixedly coupled to thepulling element. The first portion can include a rod 353, which isdisposed in the annular elements. The rod can move up and down along theaxis of the annular elements. The rod can also rotate around the sameaxis. The rod can have one or more pins, which can prevent the rod frombeing separated from the annular elements. Thus the rod can move up/downand rotate while subjected to be constrained by the pins. The rod canhave a hookable element at or near an end. The hookable element can bemated with the second portion.

The second portion can include a receptacle 381, which can have a matedhookable element, such as parallel hook features for removably couplingwith the hookable element of the rod. The removable coupling can betoggled by a rotation, such as a rotation of 90 degrees.

In FIG. 3C(a), the locking mechanism is in an unlocked status 350A, withthe hookable element of the rod configured to be parallel with theparallel hook feature of the receptacle. Thus the rod (and the annularelements) and the receptacle are separatable, so the pulling element canmove a large distance relative to the pivot point.

In FIG. 3C(b), the pulling element moves toward the pivot point. Themovement is relative, meaning the two components move toward each other,such as one component moving and the other component stationary, or bothcomponents moving. The rod can contact the receptacle and then rotate.The rotation can cause the rod to engage with the receptacle, e.g., thehookable element in the rod is no longer parallel with the parallel hookfeature of the receptacle, resulting in the rod being coupled to thereceptacle, e.g., the rod cannot be separated from the receptacle. Dueto tolerance, the rod can move slightly relative to the receptacle, butsince the hookable element is hooked with the parallel hook feature, therod cannot be separated or removed from the receptacle.

In FIG. 3C(c), the pulling element relatively moves away from the pivotpoint. The rod can still be coupled to the receptacle. The lockingmechanism is activated, e.g., the locking mechanism is in a lockedstatus 350B, securing the pulling element with the pivot point. The termsecuring means that the pulling element and the pivot point are notseparatable, and move as a unit. The pulling element thus will move as aunit with the pivot point, e.g., with the clamping device. The linkagemechanism is now disable, meaning the pulling element cannot influencethe movements of the jaws.

In FIG. 3D(a), the locking mechanism is in a locked status 350B, withthe hookable element of the rod configured to be hooked with theparallel hook feature of the receptacle. Thus the rod (and the annularelements) and the receptacle are coupled together, e.g., move togetheras a unit, so the pulling element cannot move any large distancerelative to the pivot point. The pulling element can still move a smalldistance, for example, dictated by the tolerance of the components.

In FIG. 3D(b), the pulling element relatively moves toward the pivotpoint. The rod can be pushed against the annular elements and thenrotate. The rotation can cause the rod to disengage from the receptacle,e.g., the hookable element in the rod is now parallel with the parallelhook feature of the receptacle, resulting in the rod being separatableor removable from the receptacle.

In FIG. 3D(c), the pulling element relatively moves away from the pivotpoint. The rod is now separatable from the receptacle. The lockingmechanism is deactivated, e.g., the locking mechanism is in an unlockedstatus 350A, releasing the pulling element from the pivot point. Thelinkage mechanism is now enable, meaning movements of the pullingelement can move the jaws toward each other.

FIGS. 4A-4C illustrate a configuration of the locking mechanismaccording to some embodiments. FIG. 4A shows a schematic of a forceconversion, using a slanting surface, such as a portion of a helicalsurface. The slanting surface can convert a vertical force to a forceparallel to the surface of the slanting surface. Further, by using ahelical surface, the parallel force can be a tangential force, e.g., arotational force around the axis of the helix. Thus, by using a curveslanting surface, such as a helical surface, a vertical force 462 can beconverted to a rotational force 463 around the axis of the helix.

An annular element 471 can have multiple teeth 472 arranging around theannular element 471. Each tooth can have a curve slanting surface 473,such as a portion of a helical surface. Each tooth can have a valleypoint 474, e.g., the connection between an end of the tooth slantingsurface and the beginning of a rise of a next tooth.

A rod 453 can be disposed within the annular element 471. A pin 454 canbe coupled to the rod 453, such as protruding from a surface of the rod.The pin can penetrate the rod at a center of the rod, thus can beprotruded from both sides of the rod. The rod thus can be constrained tomove in the vertical direction, e.g., along the axis of the rod,subjected to the constraint of the pin. For example, the pin can contactthe slanting surface, and thus prevent the rod from continuing moving ina straight vertical direction. The rod can also rotate in the annularelement, subjected to the constraint of the pin. For example, the pincan contact the valley point, and thus prevent the rod from continuingrotating.

Thus, under a vertical force 462, the rod can move in a verticaldirection, until the pin 454 contacts the slanting surface 473. The pinthen moves along the slanting surface to stop at the valley point 474.The moving of the pin 454 along the slanting surface 473 can rotate 463the rod 453. The angle of rotation is from the location of the verticalforce to the valley point.

FIG. 4B shows a first portion, such as portion 451, of a lockingmechanism 450. The first portion can function to convert vertical forces461, such as forces caused by the clamping device lifted up and moveddown during the picking and releasing of objects, to a rotational force464.

The first portion can include two annular elements 471 and 476 arrangedconcentrically. Each annular element can have a number of teeth arrangedaround the circumference of the annular element. The teeth can bearranged in a cyclic fashion, for example, there can be 4 teeth in oneannular element. Each tooth can have a curve slanting surface movingalong a circumference of the annular element, such as a portion of ahelical surface. Each tooth can have a valley point at an end of thetooth, e.g., at the end of the curve slanting surface. Each tooth canhave a sharp rise, for example, from the valley point of an adjacenttooth.

For example, the annular element 471 can have multiple teeth, such as 4teeth 472, arranged cyclically around a circumference of the annularelement 471. Each tooth 472 can have a curve slanting surface 473, whichends at a valley point 474. At the valley point 474, an adjacent toothcan be positioned, having a sharp rise, and followed by a new slantingsurface.

Similarly, the annular element 476 can have multiple teeth, such as 4teeth 477, arranged cyclically around a circumference of the annularelement 476. Each tooth 477 can have a curve slanting surface 478, whichends at a valley point 479. At the valley point 479, an adjacent toothcan be positioned, having a sharp rise, and followed by a new slantingsurface.

A rod 453 can be disposed in the annular elements 471 and 476. The rodouter circumference can be about the same as the inner circumference ofthe annular elements, so that the rod can fit snuggly within the annularelements. Thus the rod can move along the axis of the rod (which is thesame as the axis of the annular elements), as well as can rotate aroundthe rod axis.

A pin 454 can pass through a center of the rod, perpendicular to the rodaxis. The pin can be protruded from the rod outer circumference. The pincan be positioned as to be between the annular elements. The pin canconstrain the rod movements within the annular elements. For example,the rod can move vertically, but within the confinement of the twoannular elements, e.g., the rod can move relative to the annularelements, but the rod cannot be separated from the annular elements,e.g., the rod cannot be removed from the annular elements. The rod canalso rotate, but within the confinement of the teeth, e.g., the rod canrotate, and when the pin hits a tooth, the rod can move vertically toavoid the tooth, before continuing rotating.

The annular elements can be arranged so that a combination of a set ofvertical movements or forces, e.g., an up movement followed by a downmovement or a down movement followed by an up movement, can rotate therod to toggle the locking mechanism between a locked state and anunlocked state. The annular elements can be fixedly positioned withrespect to each other, e.g., the two annular elements can move as aunit.

For example, the annular elements can be arranged so that the teeth onthe annular elements are facing each other, e.g., the teeth on oneannular element face the teeth on another annular element. Further, theteeth are arranged in opposite directions, for example, the slantingsurfaces of the teeth in one annular element form an angle differentfrom zero angle (e.g., not parallel) with the slanting surfaces of theteeth in another annular element. The angle can be between 70 and 110degrees, or between 75 and 105 degrees, or between 80 and 100 degrees,or between 85 and 95 degrees. In addition, the valley points of theteeth in one annular element are configured to face the slantingsurfaces of the teeth in the opposite annular element.

In operation, the rod can move up, relative to the annular elements. Forexample, the annular elements can be fixedly coupled to a component ofthe clamping device. The component can move down while the rod isstationary. The pin 454, originally positioned at a valley point 479 ofa tooth 477 of the bottom annular element 476, can move up to contactthe slanting surface 473 of a tooth 472 of the top annular element 471.Further vertical movement of the rod can make the pin moving along theslanting surface 473, and resting at the valley point 474. The movementof the pin along the slanting surface can rotate the rod, for example,at an angle corresponded to the traveled distance of the pin along theslanting surface.

The rod can then move down, relative to the annular elements. Forexample, the component in which the annular elements is fixedly coupledto, can move up while the rod is stationary. The pin 454, originallypositioned at a valley point 474 of a tooth 472 of the top annularelement 471, can move up down contact the slanting surface of a tooth ofthe bottom annular element. Further vertical movement of the rod canmake the pin moving along the slanting surface, and resting at thevalley point. The movement of the pin along the slanting surface canrotate the rod, for example, at an angle corresponded to the traveleddistance of the pin along the slanting surface.

A combination of the rod moving up and then down can rotate the rod anangle corresponded to the movement of the pin from one valley point toan adjacent valley point, for example, of the bottom annular element.Thus, if there are 4 teeth at an annular element, the spacing of twovalley points can correspond to an angle of 90 degrees, e.g., the rodrotates a 90 degree angle when the rod moves up and down, e.g., theclamping device component in which the annular elements is fixedlycoupled to, moves down and up.

Further movements of the rod (or the component of the clamping device)can rotate the rod another 90 degrees, e.g., vertical movements 461 ofthe rod or the clamping device component can be converted to arotational movement 464 of the rod.

FIG. 4C shows a second portion, such as portion 452, of a lockingmechanism 450. The second portion can function to convert a rotation,e.g., the rotation of a rod disposed within two annular elements havingteeth with curve slanting surfaces, to a toggling mechanism between alocked state and an unlocked state.

The second portion 452 can include a receptacle 481, which is configuredto be securable to the rotatable rod 453. For example, at the end, ornear the end, of the rod 453, there can be an asymmetric hook 455,including an elongated portion 455A and a shortened portion 455B, suchas an oval or a rectangular shape. The receptacle 481 can have aparallel hook feature that is configured to hook or secure on theelongated portion of the rod 453.

Thus, when the rod rotates, the rod can be locked with the receptacle,e.g., in a locked state between the rod and the receptacle, or the rodcan be separable from the receptacle, e.g., in an unlocked state betweenthe rod and the receptacle. The locking and unlocking states can betoggled by continuing rotating the rod. For example, the rod can bepositioned so that the elongated portion engaged 450A with the parallelhook feature of the receptacle, locking the rod 453 with the receptacle481. In the locked state, the rod can move a small distance elative tothe receptacle, but the rod cannot be separated or removed from thereceptacle.

When the rod rotates 90 degrees, the elongated portion is now parallelwith the parallel hook feature of the receptacle, and the shortenedportion does not engage with the receptacle. This releases the rod fromthe receptacle, forming the unlocked state in which the rod can beseparated or removed from the receptacle. Rotating the rod 90 degreesagain, in either rotation direction, can re-engage the locking mechanismby mating the elongated portion with the parallel hook feature of thereceptacle. Thus the locked and unlocked states can be toggled byrotating the rod, such as rotating 90 degrees.

A locking mechanism including the annular elements having cyclic teethconfiguration, the rod having the asymmetric hook, and the receptaclehaving parallel hook feature can be toggled between locked and unlockedstates, through set of up and down movements.

In some embodiments, the present invention discloses an automaticlocking assembly having an automatic locking mechanism that can beincorporated in a clamping device. The automatic locking assembly canuse up and down movements of the clamping device to toggle a lock, e.g.,switching between locked and unlocked states, of two movable componentsof the clamping device. In the locked state, the two movable componentsof the clamping device are coupled together, e.g., not removable orseparatable from each other, thus keeping the jaws in a stationaryconfiguration when the clamping device moves. In the unlocked state, thetwo movable components of the clamping device are separable, e.g., onecomponent can move relative to the other component, thus imposing aforce on the jaws for clamping on an object when the clamping device islifted up.

In some embodiments, the automatic locking assembly can include aslanting surface, such as a curve slanting surface or a helical slantingsurface, mating with a cylindrical element, such as a rotatable pin,e.g., a roller. The slanting surface can change a force direction, suchas changing an up/down movement to a rotational movement. The interfacebetween a slanting surface and a cylindrical element can reducefriction, e.g., the cylindrical can run easier on the slanting surfacethan a flat surface runs on the slanting surface, due to the minimumcontact area. Further, a bearing can be incorporated, to further reducefriction between the cylindrical element and the slanting surface.

The automatic locking assembly can be coupled to a clamping device forautomatic disabling or enabling a linkage mechanism of the clampingdevice. The linkage mechanism is configured to transfer a pulling forceon the clamping device to a clamping force from the jaws of the clampingdevice. The linkage mechanism can include linkage arms, joints and/orelements connecting together, and movable with respect to the body ofthe clamping device.

In some embodiments, the automatic locking assembly can include twolockable elements that can be secured together, e.g., locked together,and can be removed from each other, e.g., separated from each other. Thetwo lockable elements can include a hook and an eye, in which the hookcan be coupled to the eye for securing the hook with the eye. The twolockable elements can include a rod and a receptacle, in which the rodcan enter the receptacle to prevent the rod or the receptacle frommoving sideway. The two lockable elements can include a rod having ahookable element such as an elongated end and a parallel hookreceptacle, e.g., two hooks running parallel to each other. The hookableelement can be inserted into the parallel hook receptacle, such as theelongated end positioned parallel to the parallel hook receptacle. Inthis configuration, the hookable element can enter and leave thereceptacle, e.g., the two lockable elements are free to move relative toeach other.

After the hookable element is inserted into the parallel hookreceptacle, the hookable element can be rotated so that the elongatedend can position perpendicular to the parallel hook receptacle. In thisconfiguration, the hookable element is secured with the receptacle,since the hook ends of the parallel hook of the receptacle can preventthe elongated end from leaving the receptacle.

In some embodiments, the automatic locking assembly can include twoslanting surfaces together with one or more curve shape elements forinteracting with the slanting surfaces. The curve shape elements caninclude a curved surface such as a cylindrical or elliptical rod, or apartial cylindrical or elliptical rod. The curved surface can reducefriction with the slanting surfaces, for example, due to reduced surfacecontact area. The curve shape element can include a roller such as aball bearing or a rod bearing. The roller can further reduce frictionwith the slanting surface, for example, due to the rollable action ofthe roller.

The slanting surfaces can change a direction of a movement of the curveshape element, such as rotating the curve shape element when the curveshape element moves toward and interacting with the slanting surfaces.The rotation of the curve shape element can coupled to a lockableconfiguration of the automatic locking assembly, such as the rotation ofa rod having an elongated end in a parallel hook receptacle.

The automatic locking assembly can be configured so that two slantingsurfaces can face each other, and also face the curve shape element,such as protruded pins from a rod. The first slanting surface can beconfigured to accept the protruded pins in a first moving direction ofthe pins, and then move the protruded pins along the slanting surface.The slanting surface can be a curve slanting surface, such as a helicalsurface. The movements of the protruded pins along the slanting surfacecan rotate the rod, e.g., when the pins run along the helical surface.

The second slanting surface can be configured to accept the protrudedpins, e.g., the same protruded pins or new additional protruded pinsfrom the rod. The second slanting surface can move the protruded pinsalong the slanting surface, for example, a helical surface, such asrotating the rod by the protruded pins running along the helicalsurface.

FIGS. 5A-5D illustrate a schematic configuration for a locking mechanismor assembly according to some embodiments. The locking mechanism canemploy a slanting interface for repeatedly rotating a rod through arepeatedly set of vertical forces. If the rod has a rotational symmetry,e.g., the rod geometry remains the same after rotating a certain angle,a set of vertical forces on the rod can rotate the rod half therotational symmetry angle. Two successive sets of vertical forces willreturn the rod to its original configuration, e.g., rotating the rod therotational symmetry angle.

In some embodiments, the locking mechanism can include two lockableelements, such as a rod with a hook end, e.g., a hookable element at ornear an end of the rod, and a hook receptacle, e.g., a receptacle havinga hookable feature that can be mated to the hookable element of the rod.Depending on the orientation of the hook end, the rod can be secured inthe hook receptacle to move as a same unit with the receptacle, or therod can move independent of the receptacle, e.g., the rod can beseparated or removed from the receptacle, and thus operating as twoseparate units.

For example, the hookable element can have an elongated shape, such as arectangle or an ellipse. The rod thus can have a perpendicular elongatedend, for example, the rod with the hookable element can look line ahammer. The perpendicular elongated end can have the shape of a head ofa square sledge hammer, coupled to a rod as a handle of the hammer. Thelonger side of the elongated shape can be secured to a hookable featureof the hook receptacle, while the shorter end can be released or movablefrom the hook receptacle. A rotation of the rod can toggle between thesecured state, e.g., the longer side hooked to the hook receptacle, andthe loose state, e.g., the shorter side faced the hookable feature ofthe hook receptacle.

FIG. 5A shows a schematic detail of a first portion 551 of a lockingassembly using slanting interfaces. The locking assembly can include twoportions 551 and 552, forming two lockable elements. A first portion, orthe first lockable element can include a slanting surface interactingelement 553, such as a rod, together with slanting surface elements 571and 576, each having at least a slanting surface, such as two annularelements having cyclic teeth. A second portion, or a second lockableelement can include a hook receptacle 581, which can include a hookablefeature 581A, such as parallel hook ends (shown in FIG. 5C).

The first portion, or the first lockable element of a locking assemblycan include a slanting surface interacting element, such as a rod 553.One end of the rod can include a hook end or a hookable element 555,which can include a perpendicular elongated portion having a longer side555A and a shorter side 555B. The longer side can be latched in the hookreceptacle, with the longer side mated with the hook ends 581A of thehook receptacle 581. When the longer side 555A of the rod end 555 ismated with the hooks 581A of the hook receptacle 581, the hookreceptacle 581 can be hooked to the rod and cannot be released from therod, e.g., the locking mechanism is enable.

The shorter side can allow the rod to be free to move in out of the hookreceptacle. The longer side 555A can be parallel with the parallel hookends 581A, and the shorter side 555B can be clear from the parallel hookends. Thus the rod 553 can be separated or removed from the hookreceptacle 581, since the separation between the parallel hook ends 581Ais bigger than the shorter side 555B of the rod 553.

By rotating the rod, such as a 90 degree angle for this elongated hookelement 555, the status of the lock can be toggle between locked andunlocked, e.g., the rod is hooked to the hook receptacle, and the rod isfree to move in and out of the hook receptacle. When the shorter side ofthe rod 553 is clear of the parallel hook ends of the hook receptacle,the hooks do not capture the rod, and thus the rod 553 and the hookreceptacle 581 can be separated, e.g., the locking mechanism is disable.

The rod 553 can include a protruded element 554, such as a pin, whichcan be a pin passing through the rod and protruded from both sides ofthe rod, together with optional ball bearings or rollers coupling to theends of the pin or to the portion of the pin in the rod. The optionalbearings can allow the pin to rotate easily with respect to the rod. Theprotruded pin can include cylindrical pins, rollers, elliptical pins, orany shape protrusions that can slide along the slanting surfaces of thefirst and second annular elements. Multiple pins can also be used. Theprotruded element can interface with the slanting surfaces of theelements 571 and 576 having slanting surfaces.

The elements 571 and 576 having slanting surfaces can include ring-likeelements, such as annular elements, which can have slanting surfaces inthe form of helical or spiral surfaces. The annular elements can have ahollow cylindrical shape, such as a ring or a hollow cylinder, with anaxis of rotation 551A. For example, the annular elements can have cyclicteeth, e.g., teeth configured around the circumference of the annularelements. The number of teeth can be dividable by 2 or by 4, such as 4teeth or 8 teeth. The teeth can have helical surfaces rising from a baseof the annular elements, followed by abrupt surfaces going back down tothe base, after reaching peaks of the teeth. The other end of thehelical surfaces can reach valley points, before followed by the abruptsurfaces of the adjacent teeth.

Annular element 571 can have multiple teeth 572, such as 4 teetharranged cyclically around a circumference of the base of the annularelement 571. Each tooth can have a helical surface 573. At the end ofthe helical surface 573 near the base, there can be a valley point 574,which can be followed by an adjacent tooth, e.g., an abrupt surface ofthe adjacent tooth.

Similarly, annular element 576 can have 4 teeth 577, arranged cyclicallyaround a circumference of the base of the annular element 576. Eachtooth can have a helical surface 578. At the end of the helical surface578 near the base, there can be a valley point 579, which can befollowed by an adjacent tooth, e.g., an abrupt surface of the adjacenttooth.

The two annular elements can be concentric around an axis of rotation551A, with the helical surfaces 573 and 578 facing each other. Further,the teeth of the annular elements can be configured so that peaks of theteeth of one annular element face helical surfaces of another annularelement, and valley points of one annular element face helical surfacesof another annular element.

The rod 553 can be disposed in the annular elements, such as the axis ofthe rod coincides with the axes of the annular elements. The rod can beconstrained inside the annular elements, e.g., the rod can move alongthe axis, and can rotate around the axis, without the protruded element.

With the protruded element such as the pin 554, the rod 553 is furtherconstrained. For example, the pin can be inserted after the rod has beenplaced in the annular element, so that the pin is disposed between thetwo annular elements. Thus the pin can prevent the rod from beingremoved or separated from the annular elements.

The pin can further limit the movements of the rod, beside theconstraint of limited movements along the axis, due to the teeth of theannular elements preventing the pin from going pass the teeth. The rodcan have limited rotational movements, constrained by the abruptsurfaces or the helical surfaces of the teeth. The rod can rotate acomplete cycle, but only accompanied by axis movements, e.g., when therotational movement is blocked by the teeth, the rod can move along theaxis so that the pin is clear of the teeth before resuming therotational movement.

The helical surfaces of the first and second annular elements can befacing each other, and can be configured to provide a torque to rotatethe rod through the protruded pin. For example, the rod can be pushedinto the first annular element, with the protruded pin then contactingthe helical surfaces of the first annular element. Due to the helicalsurfaces, the protruded pin can slide or roll on the helical surfaces,effectively rotating the rod an angle corresponded to the amount of theprotruded pin sliding or rolling on the helical surfaces, from the pointof contact to the point of rest at the bottom of the helical surfaces.

The rod can be retracted, e.g., a force can be applied for pulling onthe rod. The protruded pin then can be configured to contact the helicalsurfaces of the second annular element. Due to the helical surfaces, theprotruded pin can slide or roll on the helical surfaces, effectivelyrotating the rod another angle corresponded to the amount of theprotruded pin sliding or rolling on the helical surfaces, from the pointof contact to the point of rest at the bottom of the helical surfaces.Thus, by pushing and pulling, the rod can rotate an angle, such as a 90degrees angle.

For example, the pin 554 can be facing the helical surfaces 573 and 578,e.g., sandwiching between the helical surface 573 of the first annularelement 571 and the helical surface 578 of the second annular element576.

The rod can be pushed, so that the pin 554 contacts the helical surface573 of the first annular element 571. The pin can then run along thehelical surface 573 to the valley point 574. The movement of the pin 554can cause the rod 553 to rotate an angle corresponded to the length ofthe movement, e.g., the distance that the pin travels on the helicalsurface 573.

The rod can be pulled, so that the pin 554 contacts the helical surface578 of the second annular element 576. The pin can run along the helicalsurface 578 to the valley point 579 of the second annular element 576.The movement of the pin 554 can cause the rod 553 to rotate an anglecorresponded to the length of the movement, e.g., the distance that thepin travels on the helical surface 578.

FIG. 5B shows a schematic construction of a first portion 551 of alocking assembly. The first portion, or the first lockable element caninclude a first annular element 571 and a second annular element 576.The annular elements 571 and 576 can be placed inside a sleeve 585.

The first portion can include a rod 553. One end of the rod can includea hook end or a hookable element 555, which can include a perpendicularelongated portion having a longer side and a shorter side. A pin 554 canbe inserted into the rod, such as after the rod has been placed insideat least the second annular element 576. Since the second annularelement 576 is constrained by the pin 554 and the hook end 555, thesecond annular element and the rod are coupled together, e.g., cannot beremoved from each other.

The pin can be at any configuration with the regard to the hook end. Asshown, the pin is parallel to the hook end. As such, the pin isconfigured so that when the pin is rested at the valley point of thesecond annular element 576, the hook end is either parallel (unlockedstate) or perpendicular (locked state) to the parallel hook ends of thehook receptacle.

FIG. 5C shows an assembled first portion 551 of the locking assemblypartially locked with a second portion 552 of the locking assembly. Theannular elements 571 and 576 are assembled inside a sleeve 585. A rod553 can be assembled inside the first and second annular elements, witha pin 554 between the annular elements. As such, the pin is configuredso that when the pin is rested at the valley point of the first annularelement 571, the hook end is partially locked to the parallel hook endsof the hook receptacle, e.g., forming a 45 degrees. That way, when therod is further rotated another 45 degrees, the pin is to be rested atthe valley point of the second annular element 576, the hook end iseither parallel (unlocked state) or perpendicular (locked state) to theparallel hook ends of the hook receptacle.

FIG. 5D shows a cross section AA′ of an assembled first portion 551 ofthe locking assembly partially locked with a second portion 552 of thelocking assembly. The cross section is through the pin 554.

FIGS. 6A-6L illustrate a toggle process from an unlocked state to alocked state according to some embodiments. A locking assembly caninclude a first portion that can be lockable to a second portion. In anunlocked state of the first to the second portion, the first portion canbe removed or separated from the second portion. In a locked state ofthe first to the second portion, the first portion is coupled to thesecond portion, so that the first and second portions move together as aunit, e.g., the first portion cannot be removed or separated from thesecond portion. The first portion can move a short distance relative tothe second portion, such as movements due to the fabrication or designtolerance, or due to the tolerance of the lockability of the twoportions.

The first portion can be coupled, such as fixedly coupled, to a firstmovable component of a clamping device. The second portion can becoupled, such as fixedly coupled, to a second movable component of aclamping device.

The first portion can include two annular elements together with a roddisposed in the annular elements. The rod can have a protruded pin (ormore than one protruded pin) placed between the two annular elements.The rod can have a hook end, which can be a hookable element at or nearan end of the rod. The rod can move a short distance, e.g., constrainedby the movements of the pin, which is blocked by the first and secondannular elements.

The second portion can include a hook receptacle, which can include aparallel hookable feature, which can be mated with the hook end of therod.

Using a set of vertical movements, the locking assembly can changestates, between the locked and the unlocked state. And using the sameset of vertical movements again can change the state again. Thus, theset of vertical movements can toggle the states of the locking assembly.The set of vertical movements can include a downward movement followedby an upward movement of the first portion with respect to the secondportion.

The locking assembly can be in an unlocked state, in which the firstportion is separated from the second portion. In the unlocked state, theclamping device is working to clamp on an object. The first movablecomponent can move down relative to the second component. The downwardmovement of the first moveable component can partially accomplish thetoggling of the unlocked state to the locked state.

In FIG. 6A, the first portion 651 can be brought toward the secondportion 652. For example, a hoist can bring the clamping device clampingon the object to a destination. The hoist can be lowered to place theobject on the ground. The hoist can further be lowered after the objecttouches the ground. The first movable component of the clamping devicecan move toward the second movable component, bringing the first portionof the locking assembly toward the second portion of the lockingassembly.

The first portion can be disposed so that the axis of the annularelements and of the rod 653 is perpendicular with the ground, e.g.,parallel to the gravitational force. Thus gravitational force can pullthe rod 653 downward, so that the pin 654 can move along a helicalsurface to rest at a valley point of the bottom annular element 676. Thepin location can be configured so that when the pin rests at a valleypoint of the bottom annular element 676.

In FIG. 6B, the first portion 651 can be further lowered toward thesecond portion 652. For example, the hoist can further lower the firstmovable component toward the second movable component of the clampingdevice, until the rod 653 is in contact with the hook receptacle 681.After the rod contacts the hook receptacle, further lowering of thefirst movable component (or the lowering of the first portion 651 or thelowering of the two annular elements) can move the two annular elementsdown on the pin, or the pin moves 654A relatively up with respect to theannular elements.

In FIG. 6C, the first portion 651 can be further lowered toward thesecond portion 652. The annular elements can move down until the pin 654completely moved 654A to contact with the helical surface of the topannular element 671.

In FIG. 6D, the first portion 651 can be further lowered toward thesecond portion 652. The annular elements can move down, forcing the pinto move 654B along the helical surface of the top annular element. Themovement 654B of the pin can rotate 656A the rod.

In FIG. 6E, the first portion 651 can be further lowered toward thesecond portion 652. The annular elements can move down until the pincompletely moved 654B along the helical surface of the top annularelement, and the rod completes its rotational movement.

The rotational amount of the rod can correspond to the angular distanceof the helical surface traveled in the top annular element. For example,the pin can contact a middle portion of the helical surface, and thentravel to the valley point, which can correspond to about 45 degrees.Thus the rod can rotate about 45 degrees.

In FIG. 6F, the first portion 651 completes its movement toward thesecond portion 652, e.g., the two portions cannot move toward each otheranymore. The pin is rested at the valley point 674 of the top annularelement 671. The rod 653 rotates about 45 degrees, and partially hookedwith the hook receptacle 681.

Thus the movement of the first moveable component toward to the secondmovable component has partially accomplished the toggling of theunlocked state to the locked state.

The first movable component can then move up relative to the secondcomponent. The upward movement of the first moveable component cancomplete the toggling of the unlocked state to the locked state.

In FIG. 6G, the first portion 651 can start move up from the secondportion 652. For example, the hoist can lift the first movable componentupward, which can move away from the second movable component of theclamping device. The upward movement of the annular elements can move654C the pin away from the top annular element.

In FIG. 6H, the first portion 651 can be further moved up from thesecond portion 652. The annular elements can move up until the pin 654completes its move 654C to contact with the helical surface of thebottom annular element 676.

In FIG. 6I, the first portion 651 can be further moved up from thesecond portion 652. The annular elements can move up, lifting the rod tomove 656B (since the pin is in contact with the bottom annular element)until the hookable element of the rod is in contact with the hookablefeature of the hook receptacle. This distance can be small, e.g., orderof mm, such as 1 mm, 2 mm, 3 mm, 5 mm, or less than 10 mm.

In FIG. 6J, the first portion 651 can be further moved up from thesecond portion 652. The annular elements can move up until the pinstarts to move 654D along the helical surface of the bottom annularelement. The movement 654D along the helical surface of the pin canrotate 656C the rod.

In FIG. 6K, the first portion 651 can be further moved up from thesecond portion 652. The annular elements can move up until the pincompletes its move 654D along the helical surface of the bottom annularelement, resting at a valley point of the bottom annular element. Therod also completes its rotational movement. The up movement 656B of therod and the movement 654D of the pin along the helical surface can occurin any order, such as one before the other, or concurrently, e.g., at asame time.

The rotational amount of the rod can correspond to the angular distanceof the helical surface traveled in the bottom annular element. Forexample, the pin can contact a middle portion of the helical surface,and then travel to the valley point, which can correspond to about 45degrees. Thus the rod can rotate about 45 degrees.

The two rotations 656A and 656C can be about 90 degrees, determined fromthe separation of a tooth in the bottom annular element. In thebeginning of the toggling process (e.g., FIG. 6A), the pin is at avalley point. After the two rotations 656A and 656C, the pin is at anadjacent valley point, separated by a tooth in the bottom annularelement. Thus, if the bottom annular element has 4 teeth with equalspacing, the total rotation angle is 360/4=90 degrees.

In FIG. 6L, the first portion 651 completes its movement away from thesecond portion 652, e.g., the two portions cannot move away from eachother anymore. The pin is rested at the valley point 679 of the bottomannular element 676. The rod 653 rotates further about 45 degrees for acomplete 90 degrees, and hooked with the hook receptacle 681. Anyfurther up movement can move the first and second portions as a unit,e.g., the top portion is hooked or locked with the bottom portion, andcannot be removed or separated from further up movements.

Thus the movement of the first moveable component away from to thesecond movable component has accomplished the toggling of the unlockedstate to the locked state.

FIGS. 7A-7L illustrate a toggle process from a locked state to anunlocked state according to some embodiments. The toggle process can usea same set of vertical movements, e.g., the set of vertical movementsthat are used to change states from the unlocked state to the lockedstate. The set of vertical movements can include a downward movementfollowed by an upward movement of the first portion with respect to thesecond portion.

The locking assembly can be in a locked state, in which the firstportion is coupled to the second portion. In the locked state, the jawsof the clamping device are widely separated, e.g., the clamping devicedoes not function normally, e.g., in the normal operation that when theclamping device is lifted up, the jaws clamp together, with or withoutan object between the jaws.

The first movable component can move down relative to the secondcomponent. The downward movement of the first moveable component canpartially accomplish the toggling of the locked state to the unlockedstate.

In FIG. 7A, the first portion 751 can be lifted, which then pulls on thesecond portion 752. For example, a hoist can bring the empty clampingdevice, e.g., there is no object between the jaws, to an objectlocation. The jaws can be widely separated, since the first portion islocked to the second portion, which can prevent the jaws from movingtoward each other.

In the locked state, the hookable element of the rod is hooked to thehookable feature of the hook receptacle. The rod can be separated alittle from the bottom side of the hook receptacle. The pin is rested ona valley point of the bottom annular element.

In FIG. 7B, the first portion 751 can be lowered toward the secondportion 752. The rod can move down 756A to make contact with the bottomof the hook receptacle.

For example, the hoist can be lowered to place an object between theopen jaws. The hoist can further be lowered until the clamping devicecontacts the object, which is positioned between the jaws. The hoist canfurther be lowered until the first movable component of the clampingdevice moves toward the second movable component, bringing the hookedrod to be in contact with the bottom side of the hook receptacle, e.g.,from the contact at the hookable feature at the top side of the hookreceptacle.

In FIG. 7C, the first portion 751 can be further lowered toward thesecond portion 752. The annular elements can move down until the pin 754starts to move 754A to make contact with the helical surface of the topannular element 771.

In FIG. 7D, the first portion 751 can be further lowered toward thesecond portion 752. The annular elements can move down until the pin 754completely moved 754A to contact with the helical surface of the topannular element 771.

In FIG. 7E, the first portion 751 can be further lowered toward thesecond portion 752. The annular elements can move down, forcing the pinto start to move 754B along the helical surface of the top annularelement. The movement 754B of the pin can rotate 756B the rod.

In FIG. 7F, the first portion 751 can be further lowered toward thesecond portion 752. The annular elements can move down until the pincompletely moved 754B along the helical surface of the top annularelement, and the rod completes its rotational movement. The pin rests ona valley point of the top annular element. The rod rotates about 45degrees, and remains partially hooked with the hook receptacle 781.

Thus the movement of the first moveable component toward to the secondmovable component has partially accomplished the toggling of the lockedstate to the unlocked state.

The first movable component can then move up relative to the secondcomponent. The upward movement of the first moveable component cancomplete the toggling of the locked state to the unlocked state.

In FIG. 7G, the first portion 751 can start move up from the secondportion 752. For example, the hoist can lift the first movable componentupward, which can move away from the second movable component of theclamping device. The upward movement of the annular elements can startto move 754C the pin away from the top annular element.

In FIG. 7H, the first portion 751 can be further moved up from thesecond portion 752. The annular elements can move up until the pin 754completes its move 754C to contact with the helical surface of thebottom annular element 776.

In FIG. 7I, the first portion 751 can be further moved up from thesecond portion 752. The annular elements can move up, lifting the rod tomove 756C (since the pin is in contact with the bottom annular element)until the hookable element of the rod is in contact with the hookablefeature of the hook receptacle. This distance can be small, e.g., orderof mm, such as 1 mm, 2 mm, 3 mm, 5 mm, or less than 10 mm.

In FIG. 7J, the first portion 751 can be further moved up from thesecond portion 752. The annular elements can move up until the pinstarts to move 754D along the helical surface of the bottom annularelement. The movement 754D along the helical surface of the pin canrotate 756D the rod.

In FIG. 7K, the first portion 751 can be further moved up from thesecond portion 752. The annular elements can move up until the pincompletes its move 754D along the helical surface of the bottom annularelement, resting at a valley point of the bottom annular element. Therod also completes its rotational movement. The up movement 756C of therod and the movement 754D of the pin along the helical surface can occurin any order, such as one before the other, or concurrently, e.g., at asame time.

In FIG. 7L, the first portion 751 can be further moved up from thesecond portion 752, e.g., the two portions can be separated from eachother, since the hookable element of the rod is not engaged with thehookable feature of the hook receptacle. The pin is rested at the valleypoint of the bottom annular element 776. The rod 753 rotates for acomplete 90 degrees, and be separatable from the hook receptacle. Afurther up movement can move the first portion away from the secondportion, allowing the jaws to move toward each other for clamping on theobject.

Thus the movement of the first moveable component away from to thesecond movable component has accomplished the toggling of the lockedstate to the unlocked state.

In some embodiments, the locking assembly can be optimized for improvedreliability, improved operation, and improved fabrication. For example,a pulling force can be higher than a pushing force on the lockingassembly, thus the locking assembly can include a feature for providinghigher support in the pulling direction, which can provide betterreliability for the locking mechanism. The locking assembly can beconfigured to increase a force conversion from vertical movements torotation movements of the rod, to provide better operation of thelocking mechanism. The locking assembly can be configured to reduce afree movement distance, e.g., a distance in which a pulling element ofthe clamping device is pulled up, but without any response from thejaws.

FIGS. 8A-8D illustrate optimized configurations for the locking assemblyaccording to some embodiments. In FIGS. 8A(a)-8A(c), the lockingassembly can include support features 885A and 885B, to address animbalance of forces acting on the locking assembly, such as on theannular elements 871 and 876.

In FIGS. 8A(a) and 8A(b), the locking assembly can be coupled, such asfixedly coupled to two movable components 810 and 830 of the clampingdevice. For example, the annular elements 871 and 876 can be coupled toa top movable component 810, such as to the pulling element of aclamping device (for example, as in a configuration shown in FIGS. 2Aand 2B). The hook receptacle 881 can be coupled to a bottom movablecomponent 830, such as to the pivot point of a clamping device (forexample, as in a configuration shown in FIGS. 2A and 2B).

In a first movement, the top movable component can be pushed down on thebottom movable component, for example, by the hoist not pulling orreleasing on the pulling element. Thus the force of the top componentpushing down on the bottom component can be due to the weight of thepulling element. This pushing down force can push the rod 853 againstthe top annular element 871, with a force 861A equaled to the pushingdown force.

In a second movement, the top movable component can be pulled up fromthe bottom movable component, for example, by the hoist pulling on thepulling element. Thus the force of the bottom component pulling on thetop component can be due to the weight of the jaw assembly. This pullingup force can pull the rod 853 against the bottom annular element 876,with a force 861B equaled to the pulling up force.

The force 861B pulling on the bottom annular element can be higher thanthe force 861A pushing on the top annular element from the rod. Thus thebottom annular element can be supported from a bottom side.

A sleeve 885 can be used to house the annular elements 871 and 876. Thesleeve can have a support element 885A at a bottom side of the sleeve,on an inner surface, to support the bottom annular element. Pin 871A canbe used to secure the annular element 871 to the sleeve 885. Pin 876Acan be used to secure the annular element 876 to the sleeve 885.

In fabrication, the annular elements can be inserted into the sleevefrom a top side, first the bottom annular element inserted first,followed by the second annular element. Pins 871A and 876A can be usedto secure the two annular elements with the sleeve.

In operation, the support element 885A can prevent the bottom annularelement from moving down, e.g., supporting the bottom annular elementagainst the pulling down force exerted by the rod. The pin 876A can beused to add to the support of the bottom annular element, such as toprevent the bottom annular element from moving up. The pin 871A canprevent the top annular element from moving up, e.g., securing the topannular element against the pushing force exerted by the rod.

The sleeve 885 can further have another support element 885B at a topside of the sleeve, on an outer surface, to support the both annularelements on the top movable component 810. This support element 885B cansupport the sleeve 885 on the top movable component. In fabrication, thesleeve, with the annular elements installed, can be inserted into thetop movable component from a top side, so that the support element 885Brested on a mating feature in the top component. Optional securedelements, such as a pin can be used to secure the sleeve with the topcomponent. Press fit process can also be used.

FIGS. 8B(a)-8B(b) shows configurations for different angles 863A and863B of the teeth 872 on an annular element 871, such as the angles 863Aand 863B of the helical surface 873 of the teeth 872 making with ahorizontal surface of the annular element 871, which is a surfaceperpendicular to the axis of the annular element. A force from the pinpushing on the helical surface 873 can be decomposed into a normalforce, and a parallel force 862A or 862B, which is the force for movingthe pin along the helical surface for rotating the rod.

For small angle 863A (FIG. 8B(a)), the parallel force 862A can be small,as compared to the parallel force 862B caused by the larger angle 863B(FIG. 8B(b)). From these configurations, a larger angle is preferred forease of rotating the rod, which can be the activation force for togglingthe locking mechanism.

FIGS. 8B(c)-8B(d) shows configurations for different angles 863C and863D of the teeth on an annular element, e.g., the angles of the helicalsurface of the teeth making with a horizontal surface of the annularelement. A pin can move from a valley point of the bottom annularelement, along a helical surface of a tooth on the bottom annularelement, and up to rest on a valley point of the top annular element.The total vertical distance 865A or 865B can be the distance that theannular elements move with respect to the rod, e.g., when the rod islocked with the hook receptacle, the movements of the pin with respectto the annular elements can be regarded as the movements of the annularelements while keeping the rod stationary. Thus, the top movablecomponent 810 (which is coupled to the annular elements) can move down adistance 865A or 865B with respect to the bottom movable component 830(which is coupled to the hook receptacle, which can be locked to therod). In other words, the distance 865A or 865B can be the backlashdistance when the top component reverses directions. The backlashdistance can be the distance that the top component moved relative tothe bottom component, in order to toggle the states of the lockingassembly. The backlash distance 865A or 865B can be as small aspossible, in order to improve the operation of the locking mechanism.

For large angle 863C (FIG. 8B(c)), the backlash distance 865A can belarge, as compared to the backlash distance 865B caused by the smallerangle 863D (FIG. 8B(d)). From these configurations, a smaller angle ispreferred for better operation of the locking mechanism.

As shown in FIG. 8B(e), the locking assembly can be configured so thatthe teeth of the annular elements can be optimized for large parallelforces and small backlash distances. The angles of the teeth, e.g., theangles between the helical surfaces and the plane perpendicular to theaxis of the annular elements, can be between 30 and 60 degrees, orbetween 35 and 55 degrees, or between 40 and 50 degrees, or can be about45 degrees.

FIG. 8B(f) shows a configuration of the annular elements, which areembedded in a sleeve. A tooth 877 can have a helical surface 878, risingfrom a valley point 879 at a base of the annular element 876, and anabrupt surface which is terminated at a valley point of an adjacenttooth. The helical surface can be configured to form a constant anglewith the axis 751A of the annular elements.

FIGS. 8C(a) and 8C(b) show configurations for improving backlashdistance of the annular elements relative to the rod. If the annularelements are positioned farther apart, e.g., separated by a distance867A, the backlash distance can be larger, as compared to a closerannular element separation 867B. A minimum backlash distance can beobtained by placing the two annular elements close together, withminimum clearance 867C for the pin 854 to pass the peak of the teeth ofan annular element (such as the top annular element as shown) whiletraveling on the helical surface of the teeth of the other annularelement (such as the bottom annular element as shown). The clearancedistance can be the distance between the pin and the opposite slantingsurface, e.g., the clearance space on the path of the pin while movingon the slanting surface. The clearance distance can be less than 10 mm,less than 5 mm, or less than 2 mm.

FIGS. 8D(a) and 8D(b) show configurations for improving backlashdistance and ease of traveling for the pin. For example, if the abruptsurface of the teeth is vertical, e.g., parallel to the path traveled bythe pin when moving from the helical surface on one annular element tothe valley point of the other annular element, the pin might get caughtby the peak of the teeth. Thus, a recess 868A of the teeth abruptsurface can improve a reliability of the operation of the lockingassembly, by preventing the peak of the teeth from interfering with thepin. The recess 868A can be a small angle from the vertical distance,such as from the axis of rotation of the annular elements. The angle ofthe recess 868A can be less than 10 degrees, less than 5 degrees, orless than 2 degrees.

A rounding 868C of the peak of the teeth of the annular elements canfurther remove the backlash distance, by allowing the annular elementsto be positioned closer, e.g., the clearance distance 867D can besmaller than the clearance distance 867C in the case of sharp teeth.Alternatively, the peaks of the teeth can be trimmed 868B at an angleparallel to the angle of the helical surface. The trim 868B can occur ona portion of the helical surface that the pin does not travel, e.g., thepeak portion of the teeth away from the location where the pin leavesthe helical surface to travel vertically to the valley point of theother annular element. The parallel angle can allow the pin to pass thepeaks with a uniform clearance, using a trimmed peak 868D of the teeth.

In some embodiments, the automatic locking assembly can be configured sothat two slanting surfaces can face away from each other. There can betwo or more curve shape elements that are configured to mate with theslanting surfaces, such as two protruded pins from a rod. The twoslanting surfaces can be disposed between the two protruded pins, sothat a first protruded pin interfaces with a first slanting surface anda second protruded pin interfaces with a second slanting surface. Theslanting surface can be a curve slanting surface, such as a helicalsurface. The movements of the protruded pins along the slanting surfacecan rotate the rod, e.g., when the pins run along the helical surface.

The first slanting surface can be configured to accept the firstprotruded pin in a first moving direction of the pins or of the slantingsurface, and then move the first protruded pin along the first slantingsurface.

The second slanting surface can be configured to accept the secondprotruded pin. The second slanting surface can move the second protrudedpin along the second slanting surface, for example, a helical surface,such as rotating the rod by the second protruded pin running along thehelical surface.

FIGS. 9A-9E illustrate another schematic configuration for a lockingmechanism or assembly according to some embodiments. The lockingmechanism can employ a slanting interface for repeatedly rotating a rodthrough a repeatedly set of vertical forces.

In some embodiments, the locking mechanism can include two lockableelements, such as a rod with a hook end and a hook receptacle. Dependingon the orientation of the hook end, the rod can be unseparatable fromthe hook receptacle, or the rod can move independent of the receptacle.

FIG. 9A shows a schematic detail of a first portion 951 of a lockingassembly using slanting interfaces. The locking assembly can include twoportions 951 and 952, forming two lockable elements. A first portion caninclude a rod 953, placed in an annular element 970. The annular element970 can have opposite slanting surfaces, such as cyclic teeth on twoopposite sides. The annular element 970 can include two annular elements971 and 976 secured together with the slanting surfaces facing oppositedirections. The annular element 970 can be a one piece annular elementhaving slanting surfaces on opposite sides. A second portion can includea hook receptacle 981.

The first portion of a locking assembly can include a slanting surfaceinteracting element, such as a rod 953. One end of the rod can include ahook end or a hookable element 955, which can include a perpendicularelongated portion having a longer side 955A and a shorter side 955B. Byrotating the rod, such as a 90 degree angle for this elongated hookelement 955, the status of the lock can be toggle between locked andunlocked states.

The rod 953 can include at least two protruded elements, such as twopins 954A and 954B, which can be passing through the rod and protrudedfrom both sides of the rod.

The annular element 970 can include a ring-like element, with slantingsurfaces in the form of helical surfaces. The annular element 970 canhave a hollow cylindrical shape, such as a ring or a hollow cylinder,with an axis of rotation 951A. The annular element can have cyclicteeth, e.g., teeth configured around the circumference of the annularelement. The number of teeth can be dividable by 2 or by 4, such as 4teeth or 12 teeth. The teeth can have helical surfaces rising from abase of the annular elements, followed by abrupt surfaces going backdown to the base, after reaching peaks of the teeth. The other end ofthe helical surfaces can reach valley points, before followed by theabrupt surfaces of the adjacent teeth.

At one side, the annular element 970 can have multiple teeth 972, suchas 4 teeth arranged cyclically around a circumference of the base of theannular element 970. Each tooth can have a helical surface 973. At theend of the helical surface 973 near the base, there can be a valleypoint 974, which can be followed by an adjacent tooth, e.g., an abruptsurface of the adjacent tooth.

At an opposite side, the annular element 970 can have 4 teeth 977,arranged cyclically around a circumference of the base of the annularelement 976. Each tooth can have a helical surface 978. At the end ofthe helical surface 978 near the base, there can be a valley point 979,which can be followed by an adjacent tooth, e.g., an abrupt surface ofthe adjacent tooth.

The annular element 970 can have teeth 972 and 977, and helical surfaces973 and 978, facing each other. Further, the teeth of the annularelement can be configured so that peaks of the teeth in one side arealigned along the axis of rotation 951A with helical surfaces of teethin an opposite side, and valley points of teeth in one side are alignedalong the axis of rotation 951A with helical surfaces of teeth in anopposite side.

The rod 953 can be disposed in the annular element, such as the axis ofthe rod coincides with the axes of the annular element 951A. The rod canbe constrained inside the annular elements, e.g., the rod can move alongthe axis, and can rotate around the axis, in the absence of theprotruded elements.

With the protruded elements such as the pins 954A and 954B, the rod 953is further constrained. For example, the pins can be inserted after therod has been placed in the annular element, so that the pins aredisposed surrounding the annular element. Thus the pins can prevent therod from being removed or separated from the annular element.

The pins can further limit the movements of the rod, beside theconstraint of limited movements along the axis, due to the teeth of theannular element preventing the pins from going pass the teeth. The rodcan have limited rotational movements, constrained by the abruptsurfaces or the helical surfaces of the teeth. The rod can rotate acomplete cycle, but only accompanied by axis movements, e.g., when therotational movement is blocked by the teeth, the rod can move along theaxis so that the pins are clear of the teeth before resuming therotational movement.

The helical surfaces on the two sides of the annular element can befacing away from each other, and can be configured to provide a torqueto rotate the rod through the protruded pins. For example, the rod canbe pushed in one direction toward the annular element, with oneprotruded pin then contacting the helical surfaces of one side of theannular element. Due to the helical surfaces, the protruded pin canslide or roll on the helical surfaces, effectively rotating the rod anangle corresponded to the amount of the protruded pin sliding or rollingon the helical surfaces, from the point of contact to the point of restat the bottom of the helical surfaces.

The rod can be retracted, e.g., pushing in an opposite direction towardthe annular element. The other protruded pin then can be configured tocontact the helical surfaces of the opposite side of the annularelement. Due to the helical surfaces, the protruded pin can slide orroll on the helical surfaces, effectively rotating the rod another anglecorresponded to the amount of the protruded pin sliding or rolling onthe helical surfaces, from the point of contact to the point of rest atthe bottom of the helical surfaces. Thus, by pushing and pulling, therod can rotate an angle, such as a 90 degrees angle.

For example, the pin 954A can be facing the helical surface 973, and thepin 954B can be facing the helical surface 978, e.g., the helicalsurfaces 973 and 978 of the annular element 970 can be disposed betweenthe two pins 954A and 954B.

The rod can be pushed, so that the pin 954A contacts the helical surface973 of the annular element 970. The pin can then run along the helicalsurface 973 to the valley point 974. The movement of the pin 954A cancause the rod 953 to rotate an angle corresponded to the length of themovement, e.g., the distance that the pin travels on the helical surface973.

The rod can be pulled, so that the pin 954B contacts the helical surface978 of the annular element 970. The pin can run along the helicalsurface 978 to the valley point 979 of the annular element 970. Themovement of the pin 954B can cause the rod 953 to rotate an anglecorresponded to the length of the movement, e.g., the distance that thepin travels on the helical surface 978.

FIG. 9B shows a schematic construction of a first portion 951 of alocking assembly. The first portion can include an annular element 970,placed inside a sleeve 985. A hole 970A can be formed in the annularelement 970, which can accept a pin 970B for securing the annularelement 970 with the sleeve 985. The first portion can include a rod953. One end of the rod can include a hookable element 955, which caninclude a perpendicular elongated portion having a longer side and ashorter side. Pins 954A and 954B can be inserted into the rod, such asafter the rod has been placed inside the annular element 970. Since theannular element 970 is constrained by the pins 954A and 954B, theannular element and the rod are coupled together, e.g., cannot beremoved from each other.

The pins can be at any configuration with the regard to the hook end. Asshown, the pins are parallel to the hook end. As such, the pin isconfigured so that when the pin is rested at the valley point of theteeth in a bottom side of the annular element 970, the hook end iseither parallel (unlocked state) or perpendicular (locked state) to theparallel hook ends of the hook receptacle.

FIG. 9C shows an assembled first portion 951 of the locking assembly.FIG. 9D shows an assembled first portion 951 of the locking assemblypartially locked with a second portion 952 of the locking assembly. Theannular element 970 is assembled inside a sleeve 985. A rod 953 can beassembled inside the annular element, with pins 954A and 954Bsandwiching the annular element. As such, the pins are configured sothat when the pin 954B is rested at the valley point of the bottom teethof the annular element, the hook end is partially locked to the parallelhook ends of the hook receptacle, e.g., forming a 45 degrees. That way,when the pin is further rotated another 45 degrees, to be rested at thevalley point of the top teeth of the annular element, the hook end iseither parallel (unlocked state) or perpendicular (locked state) to theparallel hook ends of the hook receptacle.

FIG. 9E shows a cross section BB′ of an assembled first portion 951 ofthe locking assembly partially locked with a second portion 952 of thelocking assembly. The cross section is through the pins 954A and 954B.

FIGS. 10A-10C illustrate a toggle process from an unlocked state to alocked state according to some embodiments. FIGS. 10A(a)-10C(a) showperspective views, and FIGS. 10A(b)-10C(b) show side views, of thetoggle process. A locking assembly can include a first portion that canbe lockable to a second portion. The first portion can include anannular element together with a rod disposed in the annular element. Therod can have two protruded pins (or more than two protruded pins) placedsurrounding the annular element. The rod can have a hook end. The secondportion can include a hook receptacle, which can include a parallelhookable feature, which can be mated with the hook end of the rod.

In FIGS. 10A(a)-10A(b), the first portion can be removable from thesecond portion, with the hook end 1055 of the rod 1053 parallel with theparallel hookable feature of the hook receptacle 1081. Top pin 1054A canbe rested on a valley point of the top teeth 1072 of the annular element1070.

In FIGS. 10B(a)-10B(b), the first portion can be brought down on thesecond portion. Bottom pin 1054B contacts helical surface of bottomteeth 1077 of the annular element 1070. Bottom pin 1054B further movesalong the helical surface to rest on a valley point of the bottom teeth1077 of the annular element 1070. Rod 1053 is rotated a 45 degree angle,so that the hook end 1055 is partially hooked on the hook receptacle.

In FIGS. 10C(a)-10C(b), the first portion can be brought up away fromthe second portion. Top pin 1054A contacts helical surface of top teeth1072 of the annular element 1070. Top pin 1054A further moves along thehelical surface to rest on a valley point of the top teeth 1072 of theannular element 1070. Rod 1053 is rotated another 45 degree angle, for atotal of 90 degrees, so that the hook end 1055 is hooked on the hookreceptacle. The locking assembly has completed its toggling process froman unlocked state to a locked state.

FIGS. 11A-11C illustrate a toggle process from a locked state to anunlocked state according to some embodiments. FIGS. 11A(a)-11C(a) showperspective views, and FIGS. 11A(b)-11C(b) show side views, of thetoggle process. The toggle process can use a same set of verticalmovements, e.g., the set of vertical movements that are used to changestates from the unlocked state to the locked state, which includes adownward movement followed by an upward movement of the first portionwith respect to the second portion.

In FIGS. 11A(a)-11A(b), the first portion can be locked with the secondportion, with the hook end 1155 of the rod 1153 hooked with the parallelhookable feature of the hook receptacle 1181. Top pin 1154A can berested on a valley point of the top teeth 1172 of the annular element1170.

In FIGS. 11B(a)-11B(b), the first portion can be brought down on thesecond portion. Bottom pin 1154B contacts helical surface of bottomteeth 1177 of the annular element 1170. Bottom pin 1154B further movesalong the helical surface to rest on a valley point of the bottom teeth1177 of the annular element 1170. Rod 1153 is rotated a 45 degree angle,so that the hook end 1155 is partially hooked on the hook receptacle.

In FIGS. 11C(a)-11C(b), the first portion can be brought up away fromthe second portion. Top pin 1154A contacts helical surface of top teeth1172 of the annular element 1170. Top pin 1154A further moves along thehelical surface to rest on a valley point of the top teeth 1172 of theannular element 1170. Rod 1153 is rotated another 45 degree angle, for atotal of 90 degrees, so that the hook end 1155 is separatable from thehook receptacle, e.g., the hook end is parallel with the parallelhookable feature of the hook receptacle. The locking assembly hascompleted its toggling process from a locked state to an unlocked state.

In some embodiments, the locking assembly can be optimized for improvedreliability, improved operation, and improved fabrication.

FIGS. 12A-12D illustrate optimized configurations for the lockingassembly according to some embodiments. In FIGS. 12A(a)-12A(d), thelocking assembly can include support features 1285A and 1285B, toaddress an imbalance of forces acting on the locking assembly, such ason the annular element 1270.

In FIGS. 12A(a) and 12A(b), the locking assembly can be coupled, such asfixedly coupled to two movable components 1210 and 1230 of the clampingdevice. For example, the annular element 1270 can be coupled to a topmovable component 1210, such as to the pulling element of a clampingdevice (for example, as in a configuration shown in FIGS. 2A and 2B).The hook receptacle 1281 can be coupled to a bottom movable component1230, such as to the pivot point of a clamping device (for example, asin a configuration shown in FIGS. 2A and 2B).

In a first movement, the top movable component can be pushed down on thebottom movable component, for example, by the hoist not pulling orreleasing on the pulling element. Thus the force of the top componentpushing down on the bottom component can be due to the weight of thepulling element. This pushing down force can push the rod 1253 againstthe top teeth 1272 of the annular element 1270, with a force 1261Aequaled to the pushing down force.

In a second movement, the top movable component can be pulled up fromthe bottom movable component, for example, by the hoist pulling on thepulling element. Thus the force of the bottom component pulling on thetop component can be due to the weight of the jaw assembly. This pullingup force can pull the rod 1253 against the bottom teeth 1277 of theannular element 1270, with a force 1261B equaled to the pulling upforce.

The force 1261B pulling up on the annular element can be higher than theforce 1261A pushing down on the annular element from the rod. Thus theannular element can be supported from a bottom side.

A sleeve 1285 can be used to house the annular element 1270. The sleevecan have a support element 1285A at a bottom side of the sleeve, on aninner surface, to support the bottom side of the annular element. Pin1270A can be used to secure the annular element 1270 to the sleeve 1285.

In fabrication, the annular element can be inserted into the sleeve froma top side. Pins 1270A can be used to secure the annular element withthe sleeve.

In operation, the support element 1285A can prevent the annular elementfrom moving down, e.g., supporting the annular element from a bottomside against the pulling down force exerted by the rod. The pin 1270Acan be used to add to the support of the annular element, such as toprevent the annular element from moving up.

The sleeve 1285 can further have another support element 1285B at a topside of the sleeve, on an outer surface, to support the annular elementon the top movable component 1210. This support element 1285B cansupport the sleeve 1285 on the top movable component. The top movablecomponent 1310 can have a support element 1285C at a bottom side, on aninner surface, to support the sleeve.

In assembling, the sleeve, with the annular element installed andsecured with the pin 1270A, can be inserted into the top movablecomponent from a top side, so that the support element 1285B rested on amating feature in the top component. Optional secured elements, such asa pin or a top plate, can be used to secure the sleeve with the topcomponent. Press fit process can also be used.

The locking assembly, including the annular element, the protruded pinsinstalled to the rod, and the rod installed within the annular element,can be installed in a top movable component, e.g., without a sleeve. Inassembling, the rod can be inserted to the annular element, followed bythe pins inserted into the rod. The locking assembly can be insertedinto the top movable component from a top side, to rest on the supportelement 1285D. Optional secured element, such as sleeve 1270B, can beinserted to prevent the locking assembly from moving out of the topmovable element.

FIGS. 12B(a)-12B(b) shows configurations for different angles 1263A and1263B of the teeth 1277 on an annular element 1270, such as the angles1263A and 1263B of the helical surface 1273 of the teeth 1277 makingwith a horizontal surface of the annular element 1270, which is asurface perpendicular to the axis of the annular element. A force fromthe pin pushing on the helical surface 1273 can be decomposed into anormal force, and a parallel force 1262A or 1262B, which is the forcefor moving the pin along the helical surface for rotating the rod.

For small angle 1263A (FIG. 12B(a)), the parallel force 1262A can besmall, as compared to the parallel force 1262B caused by the largerangle 1263B (FIG. 12B(b)). From these configurations, a larger angle ispreferred for ease of rotating the rod, which can be the activationforce for toggling the locking mechanism.

FIGS. 12B(c)-12B(d) shows configurations for different angles 1263C and1263D of the teeth on an annular element, e.g., the angles of thehelical surface of the teeth making with a horizontal surface of theannular element. A bottom pin can move from a valley point of the bottomteeth of the annular element, along a helical surface of a tooth on thebottom teeth of the annular element, and up to rest on a valley point.The total vertical distance 1265A or 1265B can be the distance that theannular elements move with respect to the rod, e.g., when the rod islocked with the hook receptacle, the movements of the pin with respectto the annular elements can be regarded as the movements of the annularelements while keeping the rod stationary. Thus, the top movablecomponent 1210 (which is coupled to the annular elements) can move downa distance 1265A or 1265B with respect to the bottom movable component1230 (which is coupled to the hook receptacle, which can be locked tothe rod). In other words, the distance 1265A or 1265B can be thebacklash distance when the top component reverses directions. Thebacklash distance can be the distance that the top component movedrelative to the bottom component, in order to toggle the states of thelocking assembly. The backlash distance 1265A or 1265B can be as smallas possible, in order to improve the operation of the locking mechanism.

For large angle 1263C (FIG. 12B(c)), the backlash distance 1265A can belarge, as compared to the backlash distance 1265B caused by the smallerangle 1263D (FIG. 12B(d)). From these configurations, a smaller angle ispreferred for better operation of the locking mechanism.

As shown in FIG. 12B(e), the locking assembly can be configured so thatthe teeth of the annular elements can be optimized for large parallelforces and small backlash distances. The angles of the teeth, e.g., theangles between the helical surfaces and the plane perpendicular to theaxis of the annular elements, can be between 30 and 100 degrees, orbetween 35 and 95 degrees, or between 40 and 90 degrees, or can be about45 degrees.

FIG. 12B(f) shows a configuration of the annular elements, which areembedded in a sleeve. A tooth 1272 can have a helical surface 1273,rising from a valley point 1274 at a base of the annular element 1270,and an abrupt surface which is terminated at a valley point of anadjacent tooth. The helical surface can be configured to form a constantangle with the axis 1151A of the annular elements.

FIGS. 12C(a) and 12C(b) show configurations for improving backlashdistance of the annular elements relative to the rod. If the annularelements are positioned farther apart, e.g., separated by a distance1267A, the backlash distance can be larger, as compared to a closerannular element separation 1267B. A minimum backlash distance can beobtained by placing the two pins close together, with minimum clearance1267D for the pin 1254A to pass the peak of the teeth of an annularelement (as compared to a larger clearance 1267C) while traveling on thehelical surface of the teeth of the other annular element. The clearancedistance can be the distance between the pin and the opposite slantingsurface, e.g., the clearance space on the path of the pin while movingon the slanting surface. The clearance distance can be less than 10 mm,less than 5 mm, or less than 2 mm.

FIGS. 12D(a) and 12D(b) show configurations for improving backlashdistance and ease of traveling for the pin. For example, if the abruptsurface of the teeth is vertical, e.g., parallel to the path traveled bythe pin when moving from the helical surface on one annular element tothe valley point of the other annular element, the pin might get caughtby the peak of the teeth. Thus, a recess 1268A of the teeth abruptsurface can improve a reliability of the operation of the lockingassembly, by preventing the peak of the teeth from interfering with thepin. The recess 1268A can be a small angle from the vertical distance,such as from the axis of rotation of the annular elements. The angle ofthe recess 1268A can be less than 10 degrees, less than 9 degrees, orless than 2 degrees.

A rounding 1268C of the peak of the teeth of the annular elements canfurther remove the backlash distance, by allowing the annular elementsto be positioned closer, e.g., the clearance distance 1267E can besmaller than the clearance distance 1267D in the case of sharp teeth.Alternatively, the peaks of the teeth can be trimmed 1268B at an angleparallel to the angle of the helical surface. The trim 1268B can occuron a portion of the helical surface that the pin does not travel, e.g.,the peak portion of the teeth away from the location where the pinleaves the helical surface to travel vertically to the valley point ofthe other annular element. The parallel angle can allow the pin to passthe peaks with a uniform clearance, using a trimmed peak 1268D of theteeth.

In some embodiments, the hook end of the rod in the locking assembly canbe optimized for improved reliability and improved operation.

FIGS. 13A-13C illustrate a locking feature of the hook end of a rod witha hookable feature of a hook receptacle according to some embodiments.FIGS. 13A(a) and 13A(b) show unlocked and locked states of the lockingfeature. The hook end 1355 can have an elongated portion 1355A and ashort portion 1355B. In the unlocked state (FIG. 13A(a)), the hook end1355 of the rod 1353 can have the elongated portion 1355A parallel withthe parallel hookable feature 1381A of the hook receptacle 1381. In thelocked state (FIG. 13A(b)), the hook end 1355 of the rod 1353 can havethe elongated portion 1355A perpendicular to the parallel hookablefeature 1381A of the hook receptacle 1381.

In FIGS. 13B(a) and 13B(b), the elongated portion 1355A of the hook end1355 can be rounded to be less than a circle 1358, which is defined bythe farthest point of the elongated portion with respect to the axis ofrotation. That way, when the rod rotates, the circle 1358 represents alargest that the hook end occupies.

In FIGS. 13C(a) and 13C(b), the bottom portion 1357 of the hook end 1355can be rounded, such as to present a minimum contact with the bottomside of the hook. The bottom portion 1357 can include an arc having asmall radius, protruded from the bottom side of the hook end. The lengthor diameter of the arc can be less than 50%, less than 40%, less than30%, less than 20%, or less than 10% of the dimension of the rod. Thatway, when the rod rotates, the rod can experience a minimum friction dueto the minimization of contact surface area.

FIGS. 14A-14D illustrate a toggling configuration of the lockingmechanism according to some embodiments. A clamping device 1400 can beused for lifting and transferring objects, using a linkage mechanismbetween a pulling element coupled to a hoist and the jaws of theclamping device. The linkage mechanism can include a scissor mechanismin which two scissor arms 1430 can pivot around a pivot point 1431. Oneends of the scissor arms can be coupled together to the pulling element1410. The other ends of the scissor arms can be coupled to two jaws 1460and 1440. When the pulling element is pulled up with respect to thepivot point, the pulling force on the ends of the scissor arms can movethe jaws together for clamping on an object 1420 disposed between thejaws. When the pulling element is lowered down with respect to the pivotpoint, the lowering force on the ends of the scissor arms can move thejaws away from each other to separate the distance between the jaws,effectively releasing the object.

An automatic locking mechanism can be installed in the clamping device.The automatic locking mechanism can be configured to enable and disablethe linkage mechanism, such as the scissor mechanism in the scissorclamping device. For example, the locking mechanism can secure acomponent of the linkage mechanism to a body of the clamping device,thus can effectively prevent the linkage mechanism from moving. In thisstate, the clamping device cannot actuate the jaws by pulling orlowering the pulling device. Alternatively, the locking mechanism cansecure components of the linkage mechanism, such as securing twoportions 1430A and 1430B of scissor arm 3530. When the portion 1430A isfixed with portion 1430B, one end of the scissor arms cannot move whenthe pulling element is pulled up or lowered down, effectively disablethe linkage mechanism.

A scissor clamping device can have an automatic locking mechanism 1450,which can include 2 portions 1451 and 1452, which can be securedtogether (in locked or engaged stated), or can be separated from eachother (in unlocked or disengaged state). The locking mechanism can be atoggle mechanism, which can change between locked and unlocked statesafter being triggered or activated. The trigger or activation can be aforce acting on one or both portions 1451 and 1452 of the lockingmechanism. With the locking mechanism incorporated into the scissorclamping device, a force on the pulling element can activate thetoggling process between the locked and unlocked states.

The locking mechanism can include a hook rod 1453 and a mating hookreceptacle 1481. The hook rod can have a hook end 1455, such as anasymmetric shape, e.g., a shape having an elongated portion and ashortened portion, such as an oval or a rectangular shape. The hookreceptacle can have a mating hook end 1481A that is configured tohook/secure or unhook/release on the hook end of the hook rod. Thus,when the rod rotates, the locking (hooked) and unlocking (released)states can be toggled. For example, the rod can be positioned so thatthe elongated portion of the hook end engaged with the mating hook endof the hook receptacle, locking the rod with the hook receptacle. Whenthe rod rotates 90 degrees, the elongated portion is now parallel withthe hook receptacle, and the shortened portion does not engage with thehook end of the hook receptacle. This releases the rod from the hookreceptacle. Rotating the rod 90 degrees again, in either rotationdirection, can re-engage the lock by mating the elongated portion withthe hook.

The automatic locking mechanism can include two slanting surfaceelements, such as annular elements 1471 and 1476 each having one or moreslanting surface in the form of helical surfaces. The hook rod can bedisposed between the annular elements and can travel along an axis ofthe annular elements. One or more slanting surface interacting element,such as protruded pin 1454, can be disposed facing the slanting surfacesof the annular elements.

As shown, the annular elements can be configured so that the slantingsurfaces are facing each other, with the protruded element disposedbetween the slanting surfaces. The protruded pin can move toward thefirst annular element, in a first direction, for interacting with theslanting surfaces of the first annular element. The protruded pin canmove toward the second annular element, in an opposite direction withthe first direction, for interacting with the slanting surfaces of thesecond annular element. The locking mechanism can be similar to theconfiguration shown in FIGS. 5A-5D.

Alternatively, the annular elements can be configured so that theslanting surfaces are facing away from each other. There can be twoprotruded pins, with a first protruded pin disposed facing the slantingsurfaces of the first annular element, and a second protruded pindisposed facing the slanting surfaces of the second annular element. Thefirst protruded pin can move toward the first annular element, in afirst direction, for interacting with the slanting surfaces of the firstannular element. The second protruded pin can move toward the secondannular element, in an opposite direction with the first direction, forinteracting with the slanting surfaces of the second annular element.The first and second annular elements can be integrated together, toform an annular element having slanting surfaces protruded from bothsides of the annular element. The locking mechanism can be similar tothe configuration shown in FIGS. 9A-9D.

FIG. 14A shows a scissor clamping device having an automatic lockingmechanism 1450, such as the locking mechanism shown in FIGS. 5A-5D.Other locking mechanism can be used, such as the locking mechanism shownin FIGS. 9A-9D. The top portion 1451 of the locking mechanism is coupledto a first portion 1410 of a scissor arm of the clamping device, such asto the pulling element. The bottom portion 1452 of the locking mechanismis coupled to a second portion 1431 of the scissor arm, such as thepivot point. The automatic locking mechanism can be coupled to differentportions of the clamping device, such as automatic locking mechanism1450A coupled to two portions 1430A and 1430B of one side of the scissorarm, or automatic locking mechanism 1450B coupled to two portions 1430Bof two sides of the scissor arm.

As shown, the locking mechanism is in an engaged state, e.g., the topportion 1451 is secured to the bottom portion 1452. Thus, the pullingelement is secured to the pivot point 1431, e.g., to the body of theclamping device, with only limited movements as configured by thelocking mechanism. For example, since the rod 1453 can move between theslanting surfaces of the first and second annular elements 3571 and1476, for toggling the locking status of the locking mechanism, thepulling element can move with respect to the body of the clamping devicefor activating or deactivating the locking mechanism. Thus, in thepresent specification, components are secured together does not meanthat the components are rigidly and fixedly attached to each other. Theterm “components are secured together” can mean that a component of thecomponents cannot move freely relative to another component of thecomponents, such as being removed or separated from each other, and canmean that the components can have limited movements relative to eachother.

Due to the locked status of the locking mechanism, the pulling elementis secured to the clamping device body. The coupling of the pullingelement to the clamping device body can keep the jaws immobilized at alarge separation, in order to accept an object between the jaws.

The clamping device can be brought down, for example, by lowering ahoist coupled to the pulling element. The object 1420 can be positionedbetween the open jaws of the clamping device.

The hoist can lower further, after the clamping device has contacted theobject. Since the clamping device has contacted the object, lowering thehoist does not move down the body of the clamping device. Instead,lowering the hoist can move the pulling element down. The first portion1430A of the scissor arm can move down with respect to the secondportion 1430B of the scissor arm. The movement of the first portion1430A can move the annular element assembly down, until the protrudedpin in the rod contact the slanting surface of the top (or second)annular element. The rod can rotate an angle such as 45 degrees.

In FIG. 14B, the hoist can lift up. The first portion 1430A of thescissor arm can move up with respect to the second portion 1430B of thescissor arm. The movement of the first portion 1430A can move theannular element assembly up, until the protruded pin in the rod contactthe slanting surface of the bottom (or first) annular element. The rodcan rotate another angle such as 45 degrees. The rod can thus rotate acomplete angle of 90 degrees, which can switch the locked status to theunlocked status, since the hook end of the rod is no longer beconstrained by the hook end of the hook receptacle after a 90 degreerotation.

In FIG. 14C, the hoist can further lift up. Since the locking mechanismis now disabled, pulling on the pulling element can activate the jawsfor clamping on the object.

In FIG. 14D, after the jaws clamp on the object, the hoist can furtherlift up and move to a destination at which the object can be released.

Thus, by bring down and then bring up the pulling element, the lockingmechanism changes state from a locked state to an unlock state. Therecan be pauses between the steps.

FIGS. 15A-15D illustrate another toggling configuration of the lockingmechanism according to some embodiments. A clamping device 1500 can havescissor arms 1530 pivotable around a pivot point 1531, linking a pullingelement 1510 to two jaws 1560 and 1540.

The clamping device can have an automatic locking mechanism 1550, whichcan include a first portion 1551 and a second portion 1552. The lockingmechanism can include a hook rod 1553 having a hook end 1555 and amating hook receptacle 1581 having a hook end 1581A. The lockingmechanism can include two slanting surface elements, such as annularelements 1571 and 1576. One or more slanting surface interactingelement, such as protruded pin 1554 in the hook rod, can be disposedfacing the slanting surfaces of the annular elements.

FIG. 15A shows a scissor clamping device having an automatic lockingmechanism 1550, such as the locking mechanism shown in FIGS. 5A-5D.Other locking mechanism can be used, such as the locking mechanism shownin FIGS. 9A-9D. The top portion 1551 of the locking mechanism is coupledto a first portion 1510 of a scissor arm of the clamping device. Thebottom portion 1552 of the locking mechanism is coupled to a secondportion 1531 of the scissor arm. As shown, the locking mechanism is in adisengaged state, e.g., the top portion 1551 is loose from the bottomportion 1552. Thus, the pulling element is free to move with respect tothe pivot point 1531, e.g., to the body of the clamping device.

Due to the unlocked status of the locking mechanism, a hoist coupled tothe pulling element can lift the clamping device with the jaws clampedon object 1520. The clamping device can be brought down, for example, bylowering the hoist. Without touching the ground, the clamping device andthe object move as a unit, through the action of the hoist.

In FIG. 15B, the hoist can bring the clamping device, together with theclamped object, to a destination. The hoist can be lowered to place theobject on the ground.

The hoist can lower further, after the object has contacted the ground.Since the object has contacted the ground, lowering the hoist does notmove down the body of the clamping device. Instead, lowering the hoistcan move the pulling element down. The first portion 1510 of the scissorarm can move down with respect to the second portion 1531 of the scissorarm. The movement of the first portion 1510 can move the first portion1551 of the locking mechanism down, until the rod contact the matinghook receptacle. Since the locking mechanism is in unlocked state,lowering the pulling element can separate the jaws to release theclamping action on the object. Further, the hook end of the hook rod canenter the hook end of the hook receptacle.

In FIG. 15C, the hoist can lower further, after the hook end of the hookrod has contacted the bottom surface of the hook receptacle. The pullingelement is further lowered down, bringing the annular element assembly(the first annular element 1571 and the second annular element 1576,which is coupled as a unit) down with respect to the hook rod, until theprotruded pin in the rod contacts the slanting surface of the top (orsecond) annular element. The rod can rotate 45 degrees, partiallysecuring the hook end of the hook rod with the hook end of the hookreceptacle.

In FIG. 15D, the hoist can lift up. The first portion 1510 of thescissor arm can move up with respect to the second portion 1531 of thescissor arm. The movement of the first portion 1510 can move the annularelement assembly up, until the protruded pin in the rod contacts theslanting surface of the bottom (or first) annular element. The rod canrotate another angle such as 45 degrees. The rod can thus rotate acomplete angle of 90 degrees, which can switch the unlocked status tothe locked status, since the hook end of the rod is now fullyconstrained by the hook end of the hook receptacle after a 90 degreerotation.

The hoist can further lift up and move to a new object for pick up.Since the locking mechanism is locked, the jaws remain separated forease of accepting the object.

Thus, by bring down and then bring up the pulling element, the lockingmechanism changes state from an unlocked state to a lock state. Incombination with the process of changing the state from a locked stateto an unlock state, an operator can toggle the locking mechanism betweenlocked and unlocked states by bringing down followed by bringing up thepulling element or by the hoist coupled to the pulling element. Therecan be pauses between the step of bringing down and the step of bringingup.

FIGS. 16A-16C illustrate flow charts for operating a locking mechanismaccording to some embodiments. In FIG. 16A, operation 1600 togglesbetween a movable status and an unmovable status for a component of aclamping mechanism of a clamping device. The toggling process isactivated when at least one of the jaws of the clamping device is in avicinity of an opening distance from the other jaw. In the movablestatus, the component is configured to allow jaws of the clamping deviceto be movable toward each other to clamp on an object. In the unmovablestatus, the component is configured to have the jaws remaining opened.

In FIG. 16B, operation 1620 moves a component of a clamping mechanism ofa clamping device downward. When the component reaches a position, atoggling mechanism is activated to toggle between a movable status andan unmovable status for at least a jaw of the clamping device. In themovable status, the jaw is configured to be movably reachable toward anobject disposed between the jaw and another jaw of the clamping device.In the unmovable status, the jaws are configured to remain opened.

In FIG. 16C, operation 1640 moves a component of a clamping mechanism ofa clamping device downward to toggle at least a jaw of the clampingdevice between movably reachable toward an object disposed between thejaw and another jaw of the clamping device for clamping on the objectand remaining opened without clamping on the object.

FIGS. 17A-17B illustrate flow charts for operating a locking mechanismaccording to some embodiments. In FIG. 16C, operation 1700 moves a hoistcoupled to a clamping device downward to contact a surface. The clampingdevice clamps on an object.

Operation 1710 continues moving the hoist downward to open the jaws toreach an opening distance. When the jaws reach the opening distance, alocking mechanism of the clamping device is toggled from a movable to anunmovable status. In the movable status, the jaws of the clamping deviceare movable toward each other to clamp on the object. In the unmovablestatus, the jaws remain opened without clamping on the object. Operation1720 moves the hoist upward with the jaws opened and not clamping on theobject.

In FIG. 17B, operation 1740 moves a hoist coupled to a clamping devicedownward to contact an object. The jaws of the clamping device clampsare separated at a distance larger than a dimension of the object.Operation 1750 continues moving the hoist downward to toggle a lockingmechanism of the clamping device from an unmovable to a movable status.In the movable status, the jaws of the clamping device are movabletoward each other to clamp on the object. In the unmovable status, thejaws are opened without clamping on the object. Operation 1720 moves thehoist upward so that the jaws clamp on the object.

In some embodiments, the present invention discloses an automaticlocking mechanism for a clamping device, with the clamping device usinga clamping mechanism to clamping on an object. The automatic lockingmechanism can activate and deactivate, e.g., toggling clamping mechanismbetween an operational state, in which the clamping mechanism isoperational, and an inoperational state, in which the clamping mechanismis disable.

The automatic locking mechanism can include three elements, which caninclude a first element which can be fixedly coupled to a firstcomponent of the clamping device, a second element which can be fixedlycoupled to a second component of the clamping device, and a thirdelement movably but not separably coupled to the first element. Thefirst and second components can be movable components of the clampingmechanism, such as two components of a linkage that couples a pullingelement of the clamping device to the jaws of the clamping device. Whenthe linkage is movable, e.g., the first component is movable relative tothe second component, the linkage is enable, e.g., the jaws follow themovements of the pulling element. For example, when the pulling elementis lifted up, such as by a hoist coupled to the pulling element, thejaws can move toward each other, for clamping on an object.

The automatic locking mechanism can activate the linkage of the clampingmechanism, by allowing the first and second components movable relativeto each other. The automatic locking mechanism can deactivate thelinkage of the clamping mechanism, by coupling the first and secondcomponents together, such as securing the first component with thesecond component, with an optional backlash distance of movementsbetween the first and second components.

The activation and deactivation of the linkage can be accomplished bytoggling the automatic locking mechanism between a couplingconfiguration, in which the automatic locking mechanism causes the firstcomponent to be coupled to and not separatable from, the secondcomponent, and a separatable configuration, in which the automaticlocking mechanism causes the first component to be separatable from thesecond component.

The first element can include a toggle element, which can function totoggle the automatic locking mechanism between the couplingconfiguration and a separatable configuration. The toggle element caninclude slanting surfaces for converting vertical movements or forces toa rotational movement or force. The vertical movements or forces can beprovided by the clamping device, for example, by an operator operating ahoist coupled to the clamping device. A downward movement or force canbe accomplished by the hoist lowering the clamping device on an object,including actions of the clamping device contacting the object. Anupward movement or force can be accomplished by the hoist raising theclamping device.

The downward and upward movements or forces can be used by the toggleelement to rotatably activate and deactivate a latching element, whichcan deactivate and activate, respectively, the locking mechanism. Thelatching element can include the third element, which can be coupled orseparated from the second element of the locking mechanism, by therotational movements.

The toggle element can include one or more annular elements, having twosets of teeth, which can be configured to face each other, or to faceaway from each other. Each tooth can include a valley area, a slantingsurface rising from the valley area, and an abrupt surface going downtoward a valley area of an adjacent tooth. The slanting surface and theabrupt surface can join at a peak of the tooth.

Each set of teeth can be arranged around the annular element, such ascyclically arranged. For example, there can be 4 teeth for the first setof teeth surrounding a base of the annular element. The second set ofteeth can also include 4 teeth surrounding a base of the same annularelement, with the first and second sets of teeth are configured to faceaway from each other. Alternatively, the second set of teeth can alsoinclude 4 teeth surrounding a base of another annular element. The twoannular elements can be spaced apart, so that the two sets of teeth arefacing each other.

The first and second sets of teeth can be configured so that a valleyarea of a tooth in the first set of teeth is aligned with a slantingsurface of another tooth in the second set of teeth. The alignment canbe along an axis of rotation of the annular element. The first andsecond sets of teeth can be configured so that a valley area of a toothin the second set of teeth is aligned with a slanting surface of anothertooth in a first set of teeth. The alignment can be along an axis ofrotation of the annular element.

Thus, the valley area of each tooth can be facing the slanting surfaceof another tooth (in the case of two annular elements, spaced apart withthe two sets of teeth facing each other), or the valley area can befacing away from the slanting surface of another tooth (in the case ofonly one annular element having two sets of teeth facing in oppositedirections).

The second element can include a portion of the latch element, e.g., onecomponent of the latch element that can be latched to or released fromanother component of the latch element. The portion of the latch elementcan include a receptacle element, which has a hookable feature, such astwo parallel hooks facing each other and disposed in two sides of thereceptacle element. The hookable feature, e.g., the parallel hooks, canbe configured to be coupled to another component of the latch element,such as the third element of the automatic locking mechanism.

The third element can include the other portion of the latch element,the component of the latch element that can be configured to be latchedto or released from the receptacle element, e.g., the parallel hooks.The third element can include a rod, with a hook end at or near an endof the rod for latching to the second element, e.g., to the receptacleor the parallel hooks. For example, the hook end can include anelongated end portion disposed perpendicular to the axis of the rod. Theelongated end portion can have an ellipse or rectangular shape, e.g.,having a long side and a short side perpendicular to the rod. The hookend can be configured to toggle to with the receptacle, e.g., with theparallel hooks. The hook end can be toggled between the couplingconfiguration and the separatable configuration.

In the coupling configuration, the hook end is coupled to the receptacleso that the long side of the hook end is perpendicular to the parallelhooks, thus the rod is coupled to the receptacle, and cannot beseparated from the receptacle.

In the separatable configuration, the hook end faces the receptacle insuch a way so that the long side of the hook end is parallel to theparallel hooks, thus the hook end can be removed from the parallelhooks, e.g., the rod can be separated from the receptacle.

The third element can be disposed in the annular elements. For example,the third element can have a rod shape, such as a rod with a hook end.The rod can be inserted in the hollow portions of the annular elements.For example, in the case of two annular elements spaced from each other,the annular elements can be concentric, with the rod also concentricwith the annular elements, e.g., the axes of the rod and the annularelements are the same axes. In the case of one annular element, the rodand the annular element can be concentric.

The rod can have one or more protruded elements, such as one or morepins passing through the rod. The pins can be configured to interfacewith the slanting surfaces of the teeth, such as moving on the slantingsurface. The pins can have a length of the same size as the width of theslanting surface. Since the pins pass through the rod, such as passingthrough a center of the rod, the pins can protruded at both sides of therod. The teeth thus can be configured so that both sides of the pins,e.g., two portions of the pins that protruded from two sides of the rod,rest on two slanting surfaces of two opposite teeth, e.g., two teethacross the axis of the annular elements.

The pins can interface with the slanting surfaces of the first andsecond sets of teeth in such as way so that under a force causing thepins to contact a slanting surface, e.g., a slanting surface of a toothof the first or second set of teeth, the pins move along the slantingsurface to rest at the valley area at the bottom of the slantingsurface. The movement of the pins along the slanting surface can causethe rod to rotate an angle, such as between 40 and 50 degrees, such as45 degrees.

The force can be a vertical force, such as a downward force or an upwardforce. A combination of a downward and an upward forces can cause thepins to first contact a slanting surface of a tooth in a first set ofteeth, followed by contacting a slanting surface of another tooth in asecond set of teeth. The combination can cause the rod to rotate twice,forming a rotation of about 90 degrees, and thus toggling the hook endbetween the separatable configuration and the coupling configurationwith the hookable feature.

In some embodiments, the hook end can have a contact point with minimumarea, such as a sharp point, or a round point at a center end of therod. Thus the rod can rotate on the contact point, for example, thatcontacts a surface of the receptacle. The rod can be perpendicular tothe receptacle. The rod can be separated from the receptacle, and thenbrought in to contact a surface of the receptacle, such as a contactbetween the parallel hooks. The rod can then be rotate, on the minimumarea contact point, to toggle between the coupling configuration and theseparatable configuration. The rotation of the rod on the minimum areacontact point can have reduced friction, due to the minimum contactarea.

In some embodiments, the automatic locking mechanism can include asleeve for housing the annular elements. For example, the annularelements can include two annular spaced apart, and disposed in a sleeve.The sleeve can serve to keep the two annular elements at a fixedseparation. The annular elements can be fixed to the sleeve, forexample, by using pins, or screws to secure the annular elements withthe sleeve.

The sleeve can include a support feature, such as a step in the innersurface of the sleeve. The support feature can be configured to supportone annular element, such as to prevent the annular elements from movingin one direction, such as the downward direction. The support featurecan serve to balance a force acting on the annular elements by the rod.Since the rod can exert a large force downward on the annular element,as compared to a smaller force upward, the support feature can assist inhelping the annular element against the downward force.

In the case of two annular elements facing each other and spaced apartfrom each other, the support feature can support one annular element,such as the bottom annular element, e.g., the annular element closer tothe receptacle. In the case of one annular element having two sets ofteeth facing in opposite directions, the support feature can support theannular element. There can be two annular elements that are touchingeach other, instead of one annular element. The support feature cansupport the bottom annular element.

In some embodiments, the clamping device can have a support feature in ahousing of the sleeve. For example, the sleeve can be coupled to thefirst component of the clamping device. The first component can have ahousing, such as a recess, to house the sleeve. Alternatively, thesleeve can be housed in a housing, and the housing can be coupled to thefirst component. The housing can have a support feature to support thesleeve in a downward direction, such as a step in an inner surface ofthe housing on which the sleeve is rested, in order to support thesleeve and to prevent the sleeve from moving downward, e.g., toward thereceptacle.

In some embodiments, the clamping device can have a support feature in ahousing of the annular element. For example, the annular element can beone piece annular element or two piece annular elements that are coupledtogether. The annular element can be coupled to the first component ofthe clamping device, without a sleeve. The first component can have ahousing, such as a recess, to house the annular element. Alternatively,the annular element can be housed in a housing, and the housing can becoupled to the first component. The housing can have a support featureto support the annular element in a downward direction, such as a stepin an inner surface of the housing on which the annular element isrested, in order to support the annular element and to prevent theannular element from moving downward, e.g., toward the receptacle.

In some embodiments, the slanting surfaces of the teeth in the two setsof teeth can be helical curves, such as sections of helical curves,around the annular elements. A tooth can have a helical curve, risingfrom a valley area, and stopping at a peak of the tooth. The helicalcurve can have tangent lines forming a constant angle, for example, withthe axis of the annular element. The tangent line of the slantingsurface, e.g., of the helical curve, can make an angle between 40 and 50degrees, or 35 and 55 degrees.

In some embodiments, in the case of two annular elements having the twosets of teeth facing each other with a protruded pin disposed inbetween, the spacing of the two sets of teeth can be configured to havea minimum clearance distance, e.g., the clearance between the twoopposite teeth (in two sets of teeth) for the protruded pin to passthrough.

In the case of one annular element having the two sets of teeth facingin opposite directions, with two protruded pins sandwiching the two setsof teeth, the spacing of the two protruded pins can be configured tohave a minimum clearance distance, e.g., when a protruded pin movesalong the slanting surface of a tooth, the clearance on an oppositetooth for an opposite protruded pin to pass through the opposite tooth.

In some embodiments, a tooth of the two sets of teeth is chamfered orrounded. The chamfered or rounded tooth can provide a smaller clearancedistance, either between two annular elements sandwiching a protrudedpin, or between two protruded pins sandwiching an annular element. Thechamfered plane of one tooth can be parallel to the tangent of theopposite tooth to obtain the minimum clearance distance.

In some embodiments, the abrupt surface can be formed or chamfered toform an angle greater than zero with the axis of rotation.

In some embodiments, the automatic locking mechanism can be used in aclamping device using a half scissor mechanism with at least astationary jaw coupled to a body, and at least a movable jaw coupled toa scissor arm. A first part of the automatic locking mechanism can becoupled to a first arm of the scissor arm. A second part of theautomatic locking mechanism can be coupled to the body or to a secondarm of the scissor arm.

The automatic locking mechanism can be used in a clamping device using ascissor mechanism comprising two arm assemblies for moving two oppositejaws. A first part of the automatic locking mechanism can be coupled tothe slanting surface element or to a first arm of an arm assembly of thetwo arm assemblies. A second part of the automatic locking mechanism canbe coupled to a second arm of the arm assembly of the two arm assembliesor to a third arm of another arm assembly of the two arm assemblies.

The automatic locking mechanism can be used in a clamping device using ascissor mechanism comprising two arm assemblies for moving two oppositejaws. A first part of the automatic locking mechanism can be coupled toa first arm of an arm assembly of the two arm assemblies. A second partof the automatic locking mechanism can be coupled to a second arm of thearm assembly of the two arm assemblies or to a third arm of another armassembly of the two arm assemblies.

The automatic locking mechanism can be used in a clamping device havinga puling element having a roller to roll on a slanting surface elementto move a movable jaw against a stationary jaw. A first part of theautomatic locking mechanism can be coupled to the pulling element or tothe roller. A second part of the automatic locking mechanism can becoupled to a body of the clamping device.

In some embodiments, the frit element of the automatic locking mechanismcan include two annular elements or one annular element. In the case oftwo annular elements, the two annular elements each can have a set ofteeth arranged on a circumference of the annular element. The twoannular elements can be configured to be spaced apart, with the two setsof teeth facing each other. Alternatively, the two annular elements canbe coupled together, with the two sets of teeth facing oppositedirections.

In the case of one annular element, the annular element can have twosets of teeth arranged on one or two circumferences of the annularelement. The two sets of teeth can be configured to face oppositedirections.

For the configurations in which the two sets of teeth face each other,there can be a protruded pin disposed between the two sets of teeth. Theprotruded pin can be coupled to a rod.

For the configurations in which the two sets of teeth face in oppositedirections, there can be two protruded pins sandwiching the two sets ofteeth. The protruded pins can be coupled to a rod.

FIG. 18 illustrates a clamping device according to some embodiments. Theclamping device 1800 can use a half scissor mechanism, e.g., one jaw isfixed, and the opposite jaw is coupled by a scissor mechanism to apulling element. For example, a half scissor mechanism 1830 can couple amovable jaw 1841 to move against a stationary jaw 1861.

The clamping device can include multiple half scissor mechanisms 1830and 1830*, with each half scissor mechanism coupled to a movable jawopposite a stationary jaw. Optional elongated jaw plates 1840 and 1860can be coupled to multiple jaws at a same side, such as jaw plate 1840is coupled to the moving jaws 1841 and 1842.

The stationary jaws, such as jaw 1861, can be fixed coupled to a body1805 of the clamping device. The half scissor mechanism can include apivot point 1831, also fixedly coupled to the body 1805. A jaw armcoupled to the pivot point can be coupled to the movable jaw 1841. Anactivation arm coupled to the pivot point can include a scissor joint.Thus, when the activation arm is pulled up, the scissor joint isactivated. Due to the pivot point, the jaw arm is moved when theactivation arm is moved, which can move the jaw 1831 toward the oppositejaw 1861.

A connecting bar 1811 can be connected to ends of the activation arms ofthe multiple half scissor mechanisms 1830 and 1830*, for example, toactuating all the half scissor mechanisms together. The scissormechanism 1830 can include multiple guides 1812 to guide the connectingbar 1811 into proper movements for actuating the half scissormechanisms. A pulling element 1810 can be coupled to the connecting bar1811. When the pulling element is pulled up, the connecting bar alsomoves up, pulling on the activation arms of the half scissor mechanisms.Through the pivot points, the movable jaws move toward the oppositejaws, pressing the movable jaw plate 1840 toward the stationary jawplate 1860.

Thus the clamping device can have a linkage mechanism, linking thepulling element 1810 with the jaw plate 1840. Pulling on the pullingelement can move the movable jaw plate toward the stationary oppositejaw plate. Releasing the pull on the pulling element can move themovable jaw plate in the opposite direction, for example, due togravitation. The linkage mechanism can include the connecting bar,coupled to the activation arms, coupled to the pivot points, and coupledto the jaw arms.

A locking mechanism 1850 can be included, for hand-free actuating theclamping device using the multiple half scissor mechanisms. The lockingmechanism can allow or prevent the engagement of the half scissormechanisms, e.g., allowing or prevent the linkage mechanism between thepulling element and the jaw plate. When the locking mechanism isactivated or locked, the linkage mechanism is prevented or disable,meaning pulling on the pulling element does not move the jaw plate. Whenthe locking mechanism is deactivated or unlocked, the linkage mechanismis allowed or enable, meaning pulling on the pulling element move thejaw plate toward the opposite jaw plate.

The locking mechanism can include a top part 1851, which can be lockedto or release from the bottom part 1852. The top part 1851 can besecured to the pulling element 1810 through the connecting bar 1811,e.g., the top part can be secured to the connecting bar, and since theconnecting bar is secured to the pulling element, the top part can moveas a unit together with the pulling element. The bottom part 1852 can besecured to the body 1805 of the clamping device, such as to a connectingbar 1806 coupling two portions of the body. The top part can include amovable rod having an elongated head, which can be locked to or releasedfrom a mated hook in the bottom part.

The automatic locking mechanism can be coupled to different portions ofthe clamping device, such as automatic locking mechanism 1850A coupledto the connecting bar 1811 and the body 1805 of one side of the scissorarm, or automatic locking mechanism 1850B coupled to two portions 1830of one side of the scissor arm.

The top part 1851 can include a rod 1853 having an elongated head 1855.The elongated head can have one side longer than a side perpendicular toit, such as an ellipse shape or a rectangular shape. If the elongatedhead has the longer side disposed within the hook 1881 of the bottompart 1852, the rod can be secured to the hook, forming a lock status inwhich the top part is secured to the bottom part. If the elongated headhas the shorter side disposed within the hook 1881 of the bottom part1852, the rod can be movable out of the hook, forming an unlock statusin which the top part can be moved from the bottom part.

The top part can include annular elements 1882 and 1886 having slantingsurfaces, which can be mated with protruded pin on the rod. The annularelements and the protruded pin can be configured so that when the rod ispushed into and released out of the annular elements, the rod can rotatean angle such as 90 degrees, to toggle between longer side and shorterside, e.g., toggle between a lock status and an unlock status.

When the locking mechanism is engaged, meaning the top part is lockedinto the bottom part, the pulling element is fixedly coupled to the bodyof the clamping device. Thus the pulling element cannot move to activatethe half scissor mechanisms, and the movable jaw plate is stationarywhen pulling on or lowering the pulling element.

When the locking mechanism is disengaged, meaning the top part isunlocked from the bottom part, the pulling element is freely to movewith respect to the body of the clamping device. Thus the pullingelement can move to activate the half scissor mechanisms, and themovable jaw plate can move toward or away from the opposite jaw platewhen pulling on or lowering the pulling element, respectively.

The clamping device can have other options, such as a contact mechanism1870 to visually detecting the object, for example, when the clampingdevice moves toward the object for clamping. The contact mechanism canbe particular useful for transparent objects, such as glass plates,which can be difficult for the operator to see the edge of the plates.The clamping device can include roller feet 1871 for rolling the scissorclamp, for example, for moving between places on the ground. Theclamping device can include a guiding mechanism 1872 for guiding objectstoward the space between the stationary jaw and the movable jaw.

FIGS. 19A-19B illustrate processes for operating a clamping deviceaccording to some embodiments. The clamping device 1900 can include alocking mechanism that can automatically lock and release the jaws.

FIGS. 19A(a)-19A(d) show a process for an empty clamping device to pickan object.

In FIG. 19A(a), the locking mechanism is engaged 1950A, securing theopening of the jaws, e.g., the jaws are separated at a fixed distance,regardless of movements of the clamping device. Thus, when the clampingdevice is lifted up 1910 and moved to approaching the object, thedistance between the jaws is unchanged.

In FIG. 19A(b), the clamping device is moved to be positioned on theobject. Since the locking mechanism is engaged, the space between thejaws is large to accommodate the object. The clamping device then can belowered so that the object is disposed between the jaws.

The clamping device is lowered 1911 enough to touch the object. Apulling element can then be further lowered, with respect to the body ofthe clamping device, to partially unlock the locking mechanism. Forexample, a top part of the locking mechanism can move down (since thetop part is secured to the pulling element), so that a rod is moved up.Annular elements with slanting surfaces in the top part can partialrotate the rod, for example, through protruded pins coupled to the rod.

In FIG. 19A(c), the pulling element is lifted up 1912. At the beginning,the top part of the locking mechanism can move up (since the top part issecured to the pulling element), so that the rod is moved down. Annularelements with slanting surfaces in the top part can partial rotate therod again through protruded pins coupled to the rod. The completerotation can be 90 degrees, thus can release the rod from a hook in abottom part of the locking mechanism.

The pulling element is then further lifted up. Since the lockingmechanism is unlocked, the linkage mechanism is activated, and the jawsmove toward each other for clamping 1922 on the object.

In FIG. 19A(d), the lifting of the pulling element will also lift theobject after the jaws clamp on the object. The clamping device can liftand move the clamped object to a destination.

FIGS. 19B(a)-19B(d) show a process for a clamping device clamping on anobject to release the object at a destination.

In FIG. 19B(a), the locking mechanism is disengaged 1950B, allowing thejaws to move when the clamping device is lifted up. Thus, when theclamping device is lifted up 1910 and moved, the jaws clamp on theobject to secure the object to the clamping device.

In FIG. 19B(b), the clamping device is moved to a destination fordropping the object. The clamping device can be lowered 1911 until theobject touches the ground. The pulling element can be further loweredwhile the body of the clamping device is stationary by contacting theobject. The lowering of the pulling element can enlarge the distancebetween the jaws, e.g., increasing the separation between the jaws.

When the jaws are separated at a predetermined distance, such as amaximum distance, the top part of the locking mechanism can contact thebottom part of the locking mechanism, such as the elongated head of therod can contact the hook of the bottom part. Since the locking mechanismis disable, the shorter side of the elongated head is facing the hook,thus the elongated head can enter the hook without any obstacle.

The lowering of the pulling element can lower the top part, thus movingthe rod upward. The contact of the protruded pins with the slantingsurfaces of the annular elements can partially rotate the rod.

In FIG. 19B(c), the pulling element is lifted up 1912. At the beginning,the top part of the locking mechanism can move up (since the top part issecured to the pulling element), so that the rod is moved down. Thecontact of the protruded pins with the slanting surfaces of the annularelements can partially rotate the rod again. The complete rotation canbe 90 degrees, thus can secure the rod to the hook in a bottom part ofthe locking mechanism, e.g., the rod is rotated so that the longer sidemates with the hook to secure the rod with the hook.

The pulling element is then further lifted up. Since the lockingmechanism is locked, the linkage mechanism is deactivated, and the jawsare stationary, e.g., fixed in the separated state.

In FIG. 19B(d), the clamping device is lifted up. Since the jaws areseparated, the object is left at the destination, and only the emptyclamping device is moved. The clamping device is ready to move forapproaching a new object for pick up.

FIG. 20A-20B illustrate a clamping device according to some embodiments.The clamping device 2000 can use a slanting interface mechanism, e.g., apulling element having a slanting surface can be coupled to scissor armsto move clamping jaws. For example, a triangle pulling element canemploy the slanting sides to extend or retract two scissor arms, whichcan pivot around a pivot point 2031 to move opposite jaws (FIG. 20A).

The clamping device can include elongated jaws 2040 and 2060. Theclamping device can include a pulling element 2010, which can activatescissor arms around a pivot point. Thus, when the pulling element ispulled up, the scissor arms can extend. Due to the pivot point, the jawarm can move when the scissor arms extend, which can move the jaws forclamping on an object.

Thus the clamping device can have a linkage mechanism, linking thepulling element 2010 with the jaws 2040 and 2060. Pulling on the pullingelement can move the jaws together. Releasing the pull on the pullingelement can separate the jaws, for example, due to gravitation.

A locking mechanism 2050 can be included, for hand-free actuating theclamping device. The locking mechanism can allow or prevent theengagement of the linkage mechanism between the pulling element and thejaws. When the locking mechanism is activated or locked, the linkagemechanism is prevented or disable, meaning pulling on the pullingelement does not move the jaws. When the locking mechanism isdeactivated or unlocked, the linkage mechanism is allowed or enable,meaning pulling on the pulling element move the jaws together.

The locking mechanism can include a top part 2051, which can be lockedto or release from the bottom part 2052 (FIG. 20B). The top part 2051can be secured to the pulling element 2010. The bottom part 2052 can besecured to the pivot point 2031. The top part can include a movable rodhaving an elongated head, which can be locked to or released from amated hook 2081 in the bottom part.

The top part 2051 can include a rod 2053 having an elongated head 2055.The top part can include annular elements having slanting surfaces,which can be mated with protruded pins on the rod. The annular elementsand the protruded pins can be configured so that when the rod is pushedinto and released out of the annular elements, the rod can rotate anangle such as 90 degrees, to toggle between longer side and shorterside, e.g., toggle between a lock status and an unlock status.

When the locking mechanism is engaged, meaning the top part is lockedinto the bottom part, the pulling element is fixedly coupled to the bodyof the clamping device. Thus the pulling element cannot move to activatethe linkage mechanism, and the jaws are stationary when pulling on orlowering the pulling element.

When the locking mechanism is disengaged, meaning the top part isunlocked from the bottom part, the pulling element is freely to move,e.g., separatable with respect to the body of the clamping device. Thusthe pulling element can move to activate the linkage mechanism, and thejaws can move toward or away from each other when pulling on or loweringthe pulling element, respectively.

The clamping device can have other options, such as a contact mechanism2070 to visually detecting the object, for example, when the clampingdevice moves toward the object for clamping. The contact mechanism canbe particular useful for transparent objects, such as glass plates,which can be difficult for the operator to see the edge of the plates.The clamping device can include roller feet 2071 for rolling the scissorclamp, for example, for moving between places on the ground. Theclamping device can include a guiding mechanism 2072 for guiding objectstoward the space between the stationary jaw and the movable jaw.

FIGS. 21A-21B illustrate processes for operating a clamping deviceaccording to some embodiments. The clamping device 2100 can include alocking mechanism that can automatically lock and release the jaws.

FIGS. 21A(a)-21A(d) show a process for an empty clamping device to pickan object.

In FIG. 21A(a), the locking mechanism is engaged 2150A, securing theopening of the jaws. In FIG. 21A(b), the clamping device is moved toplace an object between the jaws. A pulling element can then be furtherlowered, with respect to the body of the clamping device, to partiallyunlock the locking mechanism. For example, a rod in the lockingmechanism can partially rotate.

In FIG. 21A(c), the pulling element is lifted up, and can partial rotatethe rod again. The complete rotation can release the rod from a hook inthe locking mechanism. The pulling element is then further lifted up tomove the jaws for clamping on the object. In FIG. 21A(d), the lifting ofthe pulling element will also lift the object after the jaws clamp onthe object.

FIGS. 21B(a)-21B(d) show a process for a clamping device clamping on anobject to release the object at a destination.

In FIG. 21B(a), the locking mechanism is disengaged 2150B. In FIG.21B(b), the clamping device moves to a destination, and lowers theobject to the ground. The pulling element can be further lowered toincrease the separation between the jaws. The pulling element can belowered until the rod pressing on the hook, which can partially rotatethe rod.

In FIG. 21B(c), the pulling element is lifted up, and can partial rotatethe rod again. The complete rotation can lock the rod to the hook. InFIG. 21B(d), the pulling element is lifted up to move for approaching anew object for pick up.

FIGS. 22A-22B illustrate a clamping device according to someembodiments. The clamping device 2200 can use a scissor mechanism, e.g.,two jaws are coupled to a scissor mechanism to a pulling element. Forexample, a scissor mechanism 2230 can couple to jaws 2240 and 2260, sothat when a pulling element 2210 is pulled up or released, the jaws movetoward each other or away from each other, respectively.

The scissor mechanism can include a pivot point 2231, which is fixedlycoupled to the body of the clamping device. The scissor mechanism caninclude a pulling element arm, which is connected to the pullingelement, and a jaw arm, which is connected to the jaw, and rotatableover the pivot joint 2231.

Thus, when the pulling element is pulled up, the scissor mechanism isactivated. Due to the pivot point, the jaw arm is moved when the pullingelement arm is moved, which can move the jaws together or away from eachother.

Thus the clamping device can have a linkage mechanism, linking thepulling element 2210 with the jaws 2240 and 2260. Pulling on the pullingelement can move the jaws toward each other. Releasing the pull on thepulling element can move the jaws away from each other, for example, dueto gravitation. The linkage mechanism can include the pulling elementarms, coupled to the jaw arms through the pivot points.

A locking mechanism 2250 can be included, for hand-free actuating theclamping device using the scissor mechanism. The locking mechanism canallow or prevent the engagement of the scissor mechanism, e.g., allowingor prevent the linkage mechanism between the pulling element and thejaws. When the locking mechanism is activated or locked, the linkagemechanism is prevented or disable, meaning pulling on the pullingelement does not move the jaws. When the locking mechanism isdeactivated or unlocked, the linkage mechanism is allowed or enable,meaning pulling on the pulling element move the jaws away from eachother.

The locking mechanism can include a top part 2251, which can be lockedto or release from the bottom part 2252. The top part 2251 can besecured to a pulling element arm 2230A. The bottom part 2252 can besecured to a jaw arm 2230B. The top part can include a movable rodhaving an elongated head, which can be locked to or released from amated hook in the bottom part.

The top part 2251 can include a rod 2253 having an elongated head 2255.The elongated head can have one side longer than a side perpendicular toit, such as an ellipse shape or a rectangular shape. If the elongatedhead has the longer side disposed within the hook 2281 of the bottompart 2252, the rod can be secured to the hook, forming a lock status inwhich the top part is secured to the bottom part. If the elongated headhas the shorter side disposed within the hook 2281 of the bottom part2252, the rod can be movable out of the hook, forming an unlock statusin which the top part can be moved from the bottom part.

The top part can include annular elements 2282 and 2286 having slantingsurfaces, which can be mated with protruded pins on the rod. The annularelements and the protruded pins can be configured so that when the rodis pushed into and released out of the annular elements, the rod canrotate an angle such as 90 degrees, to toggle between longer side andshorter side, e.g., toggle between a lock status and an unlock status.

When the locking mechanism is engaged, meaning the top part is lockedinto the bottom part, the pulling element arm is fixedly coupled to thejaw arm. Thus the pulling element cannot move to activate the scissormechanism, and the jaws are stationary when pulling on or lowering thepulling element.

When the locking mechanism is disengaged, meaning the top part isunlocked from the bottom part, the pulling element is freely to move,e.g., separatable with respect to the body of the clamping device. Thusthe pulling element can move to activate the scissor mechanism, and themovable jaws can move toward or away from each other when pulling on orlowering the pulling element, respectively.

FIGS. 23A-23B illustrate processes for operating a clamping deviceaccording to some embodiments. The clamping device 2300 can include alocking mechanism that can automatically lock and release the jaws.

FIGS. 23A(a)-23A(d) show a process for an empty clamping device to pickan object.

In FIG. 23A(a), the locking mechanism is engaged 2350A, securing theopening of the jaws. In FIG. 23A(b), the clamping device is moved toplace an object between the jaws. A pulling element can then be furtherlowered, with respect to the body of the clamping device, to partiallyunlock the locking mechanism. For example, a rod in the lockingmechanism can partially rotate.

In FIG. 23A(c), the pulling element is lifted up, and can partial rotatethe rod again. The complete rotation can release the pin from a hook inthe locking mechanism. The pulling element is then further lifted up tomove the jaws for clamping on the object. In FIG. 23A(d), the lifting ofthe pulling element will also lift the object after the jaws clamp onthe object.

FIGS. 23B(a)-23B(d) show a process for a clamping device clamping on anobject to release the object at a destination.

In FIG. 23B(a), the locking mechanism is disengaged 2350B. In FIG.23B(b), the clamping device moves to a destination, and lowers theobject to the ground. The pulling element can be further lowered toincrease the separation between the jaws. The pulling element can belowered until the rod pressing on the hook, which can partially rotatethe rod.

In FIG. 23B(c), the pulling element is lifted up, and can partial rotatethe rod again. The complete rotation can lock the rod to the hook. InFIG. 23B(d), the pulling element is lifted up to move for approaching anew object for pick up.

FIGS. 24A-24B illustrate a clamping device according to someembodiments. The clamping device 2400 can use a slanting interfacemechanism, e.g., a pulling element having a roller for rolling on aslanting surface of a jaw support. For example, the pulling element canbe disposed between a jaw and a jaw support. When the pulling elementrolls of the slanting surface of the jaw support, the jaw can move awayfrom or toward the jaw support.

The clamping device 2400 can be configured for lifting heavy objects.The clamping device can include a first jaw 2460 coupled to a clamp bar2480. The clamping device can include a second jaw assembly, which canbe movably and lockably coupled to the clamp bar. The second jawassembly can include a second jaw 2441 disposed opposite the first jaw.The second jaw assembly can include a jaw support 2442, which can slidealong the clamp bar for movably coupled to the clamp bar. The second jawassembly can be lockable to the clamp bar. The second jaw assembly caninclude stretchable elements, such as springs, which can be coupled tothe second jaw and the jaw support, for pulling the second jaw towardthe jaw support. The stretchable elements can allow the second jaw tomove away from the jaw support, for a limited distance, such as adistance equal or smaller than a distance between the discrete lockinglocations of the discrete locking mechanism.

The clamping device can include a pulling element 2410, which can beconfigured to be pulled on for lifting the clamped object. The pullingelement can freely move in an up direction. The pulling element can beconfigured to exert a clamping force on the object when being pulled,for example, by rolling through roller 2435 on slanting surface 2470 ofthe jaw support.

A locking mechanism 2450 can be included, for hand-free actuating theslanting interface mechanism. The locking mechanism can allow or preventthe engagement of the linkage mechanism between the pulling element andthe jaw. When the locking mechanism is activated or locked, the linkagemechanism is prevented or disable, meaning pulling on the pullingelement does not move the pulling element. When the locking mechanism isdeactivated or unlocked, the linkage mechanism is allowed or enable,meaning pulling on the pulling element move the pulling element formoving the jaw toward the other jaw.

The locking mechanism can include a top part 2451, which can be lockedto or release from the bottom part 2452. The top part 2451 can besecured to the pulling element 2410. The bottom part 2452 can be securedto the clamp bar 2480. The top part can include a movable rod having anelongated head, which can be locked to or released from a mated hook inthe bottom part.

The automatic locking mechanism can be coupled to different portions ofthe clamping device, such as another automatic locking mechanism coupledto the roller 2435 and the jaw support body 2442.

The top part 2451 can include a rod 2453 having an elongated head 2455.The top part can include annular elements 2472 and 2476 having slantingsurfaces, which can be mated with protruded pins on the rod. The annularelements and the protruded pins can be configured so that when the rodis pushed into and released out of the annular elements, the rod canrotate an angle such as 90 degrees, to toggle between longer side andshorter side, e.g., toggle between a lock status and an unlock status.

When the locking mechanism is engaged, meaning the top part is lockedinto the bottom part, the pulling element is fixedly coupled to the bodyof the clamping device. Thus the pulling element cannot move to activatethe linkage mechanism, and the jaws are stationary when pulling on orlowering the pulling element.

When the locking mechanism is disengaged, meaning the top part isunlocked from the bottom part, the pulling element is separatable withrespect to the body of the clamping device. Thus the pulling element canmove to activate the linkage mechanism, and the jaws can move toward oraway from each other when pulling on or lowering the pulling element,respectively.

FIGS. 25A-25F illustrate another clamping device configuration accordingto some embodiments. The clamping device 2500 can use a slantinginterface mechanism, e.g., a pulling element 2510 having a roller forrolling on a slanting surface of a jaw support (FIG. 25A).

The clamping device can include a first jaw 2560 coupled to clamp bars2580. The clamping device can include a second jaw assembly, which canbe movably and lockably coupled to the clamp bar. The second jawassembly can include a second jaw 2541 disposed opposite the first jaw.The second jaw assembly can include a jaw support 2542, which can slidealong the clamp bars for movably coupled to the clamp bar. The secondjaw 2541 can be movable relative to the jaw support 2542, such as afunction of the pulling element positions (FIG. 25B).

A locking mechanism 2550 can be included, for hand-free actuating theslanting interface mechanism.

The locking mechanism can include a top part, which can be locked to orrelease from the bottom part. The bottom part can include a hookreceptacle 2581, which can be secured to a stationary portion of theclamping device, such as to the body of the clamping device, forexample, to the jaw support 2542 (FIG. 25C).

The top part can include a shell 2585, which can be secured to a movableportion of clamping device, such as to the pulling element 2510. Anannular element 2570 can be disposed inside the shell 2585, and can besecured to the shell, for example, by a set of nuts and bolts 2570A. Theshell 2585 can have a support 2585A, such as a step, to support theannular element 2570, e.g., against a downward force acting on theannular element. The annular element 2570 can include teeth 2572 and2577, disposed on two opposite sides. A movable rod 2553 with protrudedpins can be disposed inside the annular element. The rod 2553 can havean elongated head 2555 for releasably mating with the hook receptacle2581 (FIG. 25D-25F).

FIGS. 26A-26B illustrate processes for operating a clamping deviceaccording to some embodiments. The clamping device 2600 can include alocking mechanism that can automatically lock and release the jaws.

FIGS. 26A(a)-26A(d) show a process for an empty clamping device to pickan object.

In FIG. 26A(a), the locking mechanism is engaged 2650A, securing theopening of the jaws. In FIG. 26A(b), the clamping device is moved toplace an object between the jaws. A pulling element can then be furtherlowered, with respect to the body of the clamping device, to partiallyunlock the locking mechanism. For example, a rod in the lockingmechanism can partially rotate.

In FIG. 26A(c), the pulling element is lifted up, and can partial rotatethe rod again. The complete rotation can release the rod from a hook inthe locking mechanism. The pulling element is then further lifted up tomove the jaws for clamping on the object. In FIG. 26A(d), the lifting ofthe pulling element will also lift the object after the jaws clamp onthe object.

FIGS. 26B(a)-26B(d) show a process for a clamping device clamping on anobject to release the object at a destination.

In FIG. 26B(a), the locking mechanism is disengaged 2650B. In FIG.26B(b), the clamping device moves to a destination, and lowers theobject to the ground. The pulling element can be further lowered toincrease the separation between the jaws. The pulling element can belowered until the rod pressing on the hook, which can partially rotatethe rod.

In FIG. 26B(c), the pulling element is lifted up, and can partial rotatethe rod again. The complete rotation can lock the rod to the hook. InFIG. 26B(d), the pulling element is lifted up to move for approaching anew object for pick up.

FIGS. 27A-27D illustrate a clamping device according to someembodiments. A clamping device can include a first jaw assembly and asecond jaw assembly disposed in substantially perpendicular with a clampbar. The clamp bar can include multiple bars, which can be coupled tothe first and second jaw assembly. The first jaw assembly can be fixedlycoupled to the clamp bar. The second jaw assembly can also be fixedlycoupled to the clamp bar. Alternatively, the second jaw assembly can bemovably coupled to the clamp bar, such as moving along the clamp bar,and then secured to the clamp bar, for example, by a locking mechanism.

The clamping device can include a rotatable element, which can becoupled to a jaw assembly. For example, the jaw assembly can include ajaw facing a jaw support. The rotatable element can be disposed betweenthe jaw and the jaw support, and can be rotatably coupled to a componentof the jaw assembly, such as to the jaw. A pulling element can becoupled to the rotatable element to rotate the rotatable element in onedirection. A return mechanism, such as a spiral spring assembly, can beused to rotate the rotatable element in an opposite direction.

An interface between the rotatable element and a component of the jawassembly, such as the jaw support can include a slanting surface, whichcan be configured so that when the rotatable element is rotated in thedirection caused by the pulling of the pulling element, the jaw ismoving away from the jaw support if there is no obstacle blocking themovement of the jaw. If an object is already present between the jaws ofthe clamping device, the slanting surface can convert the action ofpulling the pulling element to an action, e.g., a force, pushing on thejaw, to clamp on the object.

The slanting interface can include one or more spiral surfaces coupledto the rotatable element, and one or more rollers coupled to a componentof the jaw assembly, such as to the jaw support.

FIG. 27A shows a perspective view of the clamping device. A clampingdevice 2700 can include a first jaw 2760 which is coupled to a clamp bar2780. A rubber pad 2765 can be coupled to the first jaw to increasefriction with clamped objects. A jaw assembly including a second jaw2741 and a jaw support 2742 can be coupled to the clamp bar. A rubberpad 2745 can be coupled to the second jaw to increase friction withclamped objects.

A rotatable element 2730 can be disposed between the second jaw and thejaw support. The rotatable element can be rotatably coupled to thesecond jaw, and can have slanting interfaces with the jaw support. Therotatable element can have spiral surfaces, interfacing with rollers inthe jaw support. The rollers can roll on the spiral or helical surfacesof the rotatable element.

A pulling element 2743 can have one end fixedly coupled to the rotatableelement, and wrapped around the rotatable element. Thus, when thepulling element is pulled up, the rotatable element can rotate, whichcan rotate the spiral surfaces on the rollers, moving the rotatableelement relative to the jaw support. The other end of the pullingelement can include a coupled, such as a hook, for coupling with a hoistfor moving the clamping device.

The clamping device can include other components, such as an automaticlocking mechanism for enabling or disabling a linkage between thepulling element and the second jaw. For example, the automatic lockingmechanism can allow or prevent the rotatable element from rotating, thuspulling on the pulling element can rotate or non-rotate the rotatableelement.

FIG. 27B shows a cross section of a clamping device, which can include afirst jaw 2760 fixedly coupled to a clamp bar 2780, such as a single baror multiple connection bars. The first jaw can include a rubber pad 2765to increase a friction with objects to be clamped. In some embodiments,the first jaw can be removably coupled to the clamp bar, together with alocking mechanism for securing the first jaw to the clamp bar.Alternatively, the first jaw can be a part of a first jaw assembly,which can also include a first jaw support. The first jaw of the firstjaw support can be coupled to the clamp bar, such as fixedly coupled orremovably coupled with a locking mechanism.

The clamping device can include a second jaw assembly, which can bemovably and lockably coupled to the clamp bar. The second jaw assemblycan include a second jaw 2741 disposed opposite the first jaw. Thesecond jaw can include a rubber pad 2745 to increase a friction withobjects to be clamped. The second jaw assembly can include a jaw support2742, which can slide along the clamp bar for movably coupled to theclamp bar. As shown, the first jaw is fixedly coupled to the clamp bar,and the second jaw assembly is movably coupled to the clamp bar. Otherconfigurations can be used, such as the first jaw is movably coupled tothe clamp bar, and the second jaw assembly is fixedly coupled to theclamp bar. Alternatively, the first jaw and the second jaw assembly canboth be movably coupled to the clamp bar. A jaw or a jaw assembly, ifmovably coupled to the clamp bar, can include a locking mechanism forsecuring the jaw or the jaw assembly to the clamp bar.

There can be flexible couplings between the second jaw and the jawsupport. The flexible couplings can allow the second jaw to move inmultiple directions with respect to the jaw support, such as down andaway from the jaw support. The flexible couplings can include springshaving two ends fixedly coupled to the second jaw 2741 and the jawsupport 2742. The springs can bend and flex, allowing the second jaw tomove relative to the jaw support.

The clamping device can include a pulling element 2743, which can beconfigured to be pulled on for lifting the clamped object. The pullingelement can be coupled to a rotatable element 2730, which is disposedbetween the second jaw and the jaw support. The pulling element can alsobe disposed between the clamp bar, e.g., between the multiple connectionbars. The pulling element can freely move in an up direction. In thedown direction, a spring set can be used to pull the pulling elementtoward the rotatable element.

The rotatable element can be configured to exert a clamping force on theobject when rotating, for example, through a slanting surface on therotatable element. For example, the jaw support can include a set ofrollers, which can provide rolling friction with the slanting surface ofthe rotatable element. Thus there can be minimum friction when therotatable element is rotating, pushing the second jaw away from the jawsupport due to the slanting surface.

The clamping device can include a locking mechanism 2750A, which can becoupled to either the clamp bar or to the second jaw assembly to preventthe rotatable element from being rotated. The rotatable element can beconstrained from rotating, thus the second locking mechanism, whenengaged, when secure the rotatable element to the second jaw. Therotatable element can be locked to a position of maximum jaw opening,which can provide that the second jaw is closest to the jaw support.

In operation, the locking mechanism, e.g., the locking mechanism thatlocks the second jaw assembly to the clamp bar, can be unlocked, forexample, by pulling back a second mated component to disengage thesecond mated component 2772 from a first mated component. This willrelease the second jaw assembly from the clamp bar, and thus the secondjaw assembly can slide along the clamp bar so that the distance betweenthe two jaws can be large enough to accommodate the object.

After putting the object within the first and second jaw, the lockingmechanism can be engaged, e.g., the second mated component can be pushedup to engage with the first mated component, locking the second jawassembly to the clamp bar. If the locking mechanism is a discretelocking mechanism, there can be gaps between the object and the jaws.

This process can be optional. In some embodiments, the second jawassembly can be secured to the clamp bar, and the clamping device can beconfigured to handle objects having a range of thicknesses, determinedby the movements of the second jaw.

Next, the locking mechanism 2750A can be unlocked, so the pullingelement can be pulled up. Due to the rollers, the rotatable element caneasily rotate against the jaw support. The second jaw can move away fromthe jaw support, until the second jaw is in contact with the object. Ifthere is a gap between the object and the first jaw, the second jaw cankeep moving to narrow that gap. The second jaw then continue to moveuntil the first and second jaws all contact the object.

FIGS. 27C-27D show internal views of the rotatable clamping device. Aclamping device can include a first jaw 2760 facing a second jaw 2741. Arotatable element 2730 can be rotatably coupled to the second jaw, forexample, through ball bearings. A pulling element 2743 can be coupled tothe rotatable element, and can rotate the rotatable element, whenpulled, in one direction, such as counterclockwise as shown. Springassembly 2735 can be coupled between the rotatable element and thesecond jaw to rotate the rotatable element in an opposite direction, forexample, when the pulling element is not pulled or released.

The rotatable element can include slanting surface, such as spiral orhelical surfaces 2771, which can change a distance between the rotatableelement and a jaw support (not shown). An automatic locking mechanism2750B or 2750C can be coupled to the rotatable element at differentlocations. The automatic locking mechanism can be fixedly coupled to thesecond jaw, and can function to allow or to prevent the rotatableelement from rotating.

A pulling element 2743 can be coupled to a rotatable element 2730. Forexample, one end of the pulling element can be fixedly coupled to therotatable element. Thus, when the pulling element is pulled up, therotatable element can rotate, such as in a clockwise direction as shown.A spring assembly 2735 can be used to rotate the rotatable element in anopposite direction, when the pulling element is relaxed.

A limiter can be used to limit the amount of rotation. For example, asshown, the rotatable element can rotate at most about 180 degrees.Rollers can be included to reduce friction between the rotatable elementand a jaw support (not shown). The rotatable element can includeslanting surface, such as spiral or helical surfaces 2771. There can be2 spiral or helical surfaces, thus the rotatable element can obtain amaximum separation with the jaw support when rotating about 180 degrees.

FIGS. 28A-28B illustrate locking mechanisms for a clamping deviceaccording to some embodiments. A clamping device can use a slantinginterface mechanism, such as a rotatable element having spiral orhelical surfaces coupling with rollers of a jaw support. For example,the rotatable element can be disposed between a jaw and a jaw support.When the rotatable element rotates, the rollers can roll on the spiralor helical surfaces of the rotatable element to push the jaw away fromor pull the jaw toward the jaw support.

A pulling element can be coupled to the rotatable element for rotatingthe rotatable element. When the pulling element is pulled up, therotatable element can rotate, and the second jaw can move toward thefirst jaw for clamping on an object. When the pulling element isreleased, e.g., not pulling up, a return mechanism such as a spiralspring can rotate the rotatable element in an opposite direction, whichcan move the second jaw away from the first jaw.

A locking mechanism can be included, for hand-free actuating theslanting interface mechanism. The locking mechanism can allow or preventthe rotation of the rotatable element.

FIGS. 28A(a) and 28A(b) show locked and unlocked states for a lockingmechanism of a clamping device 2800 employing a rotatable mechanism. Atop part 2851A of a locking mechanism 2850A is coupled to the pullingelement, such as coupled to a flexible element 2843 (e.g., a rope, abelt, or a chain) which is configured to rotate a rotatable element 2830(e.g., a disk or a round plate). A bottom part 2852A of the lockingmechanism 2850A is coupled to a body of the clamping device.

When the top part is locked with the bottom part (FIG. 28A(a)), thepulling element 2843 is coupled with the body of the clamping device.Thus the pulling element cannot move up freely, e.g., the pullingelement can be fixedly coupled to the body (except maybe a smallbacklash distance caused by the operation of the locking mechanism). Thefixed pulling element can stop the rotatable element from rotating, andthe jaws are fixed in position, e.g., the jaws are not movable towardeach other for clamping.

When the top part is unlocked with the bottom part (FIG. 28A(b)), thepulling element 2843 is free to move with respect to the body of theclamping device. Thus the top part can move away from the bottom part.The rotatable element can rotate in one direction when the pullingelement is pulled up. The rotation of the rotatable element in thisdirection can cause the jaws to move toward each other, for clamping onan object. The rotatable element can rotate in an opposite directionwhen the pulling element is released, due to the presence of a springconfiguration 2835. The rotation of the rotatable element in thisopposite direction can cause the jaws to move away from each other, forreleasing the object.

The locking mechanism can be automatically toggled due to a set ofvertical movements, which can include a lowering movement of the pullingelement, followed by a raising movement of the pulling element. The setof vertical movements can rotate a rod having a hook end, which can betoggled between hooked and unhooked to a mating hook receptacle.

FIGS. 28B(a) and 28A(b) show locked and unlocked states for anotherlocking mechanism of a clamping device 2801 employing a rotatablemechanism. A top part 2851B of a locking mechanism 2850B is coupled to abody of the clamping device. A bottom part 2852B of the lockingmechanism 2850B is coupled to the rotatable element 2830 (e.g., a diskor a round plate).

When the top part is locked with the bottom part (FIG. 28B(a)), therotatable element 2830 is coupled with the body of the clamping device.Thus the rotatable element cannot rotate freely, e.g., the rotatableelement can be fixedly coupled to the body (except maybe a smallbacklash distance caused by the operation of the locking mechanism). Thefixed rotatable element can stop the jaws from moving, e.g., the jawsare not movable toward each other for clamping.

When the top part is unlocked with the bottom part (FIG. 28B(b)), therotatable element 2830 is free to move with respect to the body of theclamping device. Thus the top part can move away from the bottom part.The rotatable element can rotate in one direction when the pullingelement is pulled up. The rotation of the rotatable element in thisdirection can cause the jaws to move toward each other, for clamping onan object. The rotatable element can rotate in an opposite directionwhen the pulling element is released, due to the presence of a springconfiguration 2835. The rotation of the rotatable element in thisopposite direction can cause the jaws to move away from each other, forreleasing the object.

The locking mechanism can be automatically toggled due to a set ofvertical movements, which can include a lowering movement of the pullingelement, followed by a raising movement of the pulling element. The setof vertical movements can rotate a rod having a hook end, which can betoggled between hooked and unhooked to a mating hook receptacle.

FIGS. 29A-29B illustrate operating processes for the automatic lockingmechanism according to some embodiments. FIGS. 29A(a)-(d) show a processfor an empty clamping device 2900 to pick up an object. The clampingdevice is supported by a hoist coupled to the pulling element 2943 ofthe clamping device. In FIG. 29A(a), the clamping device is brought tothe object, e.g., positioned above the object with the object locatedbetween the two jaws of the clamping device. The clamping device canhave the automatic locking mechanism 2950 activated 2950A, e.g., to bein a locked state, meaning the rotatable element 2930 is locked, forexample, to a body part or a jaw, which can prevent the rotatableelement from rotating. The fixed rotatable element can disable thelinkage between the pulling element and the jaw, thus the jaws can beseparated, for example, at a maximum distance in order to accommodatethe getting of the object between the opening of the jaws. Theactivation of the locked state of the automatic locking mechanism can beaccomplished after the clamping device finishes delivering the object,as discussed in subsequent processes.

In FIG. 29A(b), the clamping device is lowered to place the objectbetween the two jaws. The clamping device can touch the object, forexample, by a mechanism 2970 that links to the automatic lockingmechanism. The contacting of the mechanism 2970 can partially toggle theautomatic locking mechanism, e.g., partially activating the automaticlocking mechanism if the automatic locking mechanism is deactivated, andpartially deactivating the automatic locking mechanism if the automaticlocking mechanism is activated. Since the locking mechanism isactivated, the contacting of the mechanism by the clamping device whenlowering to capture the object can partially deactivate 2950B theautomatic locking mechanism. The rotatable element can be still coupledto the body, e.g., not yet free to rotate when the pulling element ispulled up.

In FIG. 29A(c), the pulling element is pulled up, for example, by thehoist that is coupled to the pulling element. The pulling up movementcan first complete the toggling process, e.g., completing the activationprocess if the automatic locking mechanism is partially activated, orcompleting the deactivation process if the automatic locking mechanismis partially deactivated. Since the automatic locking mechanism ispartially deactivated, pulling the pulling element can complete thedeactivation process, allowing the rotatable element to freely rotatewith respect to the body. With the rotatable element free to rotate, thejaws can also free to move.

Further pulling on the pulling element can rotate the rotatable element,which can move the jaws toward each other for clamping on the object.When the jaws contact the object, the rotation of the rotatable elementcan stop, and further pulling on the pulling element can exert aclamping force on the object by the jaws.

In FIG. 29A(d), further pulling on the pulling element can lift theclamping device and the object clamped between the jaws of the clampingdevice. The clamping device can then be moved to a new location fordisposing the object.

FIGS. 29B(a)-(d) show a process for a clamping device 2900 holding anobject to release the object. In FIG. 29B(a), the clamping device withthe object clamped between the jaws is brought to a destination, e.g.,to a location that the object is to be placed. The clamping device canhave the automatic locking mechanism 2950 deactivated 2950B, meaning therotatable element 2930 is free to rotate, and thus the linkage betweenthe pulling element and the jaw is enabled to move the jaws together forclamping on the object. The deactivation of the automatic lockingmechanism can be accomplished after the clamping device finishes pickingthe object, as discussed in the previous processes.

In FIG. 29B(b), the clamping device is lowered to place the object onthe ground or any surface at the destination. The lowering of theclamping device can be accomplished by lowering the hoist coupled to thepulling element. After the object touches the ground, the hoist cancontinue to lower, thus lowering the pulling element without loweringthe clamping device. Since the automatic locking mechanism isdeactivated, a spring mechanism in the rotatable element, such as aspiral spring coupled to the rotatable element, can rotate the rotatableelement and thus pull the pulling element down when the hoist islowered. The rotation of the rotatable element can cause the jaws to beseparated.

The pulling element can be further moved down, for example, by thelowering of the hoist that is coupled to the pulling element, whichcauses the rotatable element to continue to rotate. When the rotatableelement rotates to a certain position, such as to a position thatachieve a maximum separation of the jaws (or when the rotatable elementencounters a limit stop), the top and bottom portions of the lockingmechanism can make contact, which can stop the rotational movement ofthe rotatable element. For example, the top portion can be coupled tothe pulling element, and thus when the pulling element is lowered to theposition that provides the maximum jaw separation, the top portion canmake contact with the bottom portion, which is coupled to the body.Alternatively, the bottom portion can be coupled to the rotatableelement, and thus when the rotatable element is rotated to the positionthat provides the maximum jaw separation, the bottom portion can makecontact with the top portion, which is coupled to the body.

The contacting of the two portions of the locking mechanism canpartially toggle the automatic locking mechanism, e.g., partiallyactivating the automatic locking mechanism if the automatic lockingmechanism is deactivated, and partially deactivating the automaticlocking mechanism if the automatic locking mechanism is activated. Sincethe locking mechanism is deactivated, the contacting of the mechanism bythe clamping device when lowering to release the object can partiallyactivate 2950A the automatic locking mechanism. The pulling element ofthe rotatable element can be partially coupled to the body due to thepartial activation process.

In FIG. 29B(c), the pulling element is pulled up, for example, by theraising of the hoist that is coupled to the pulling element. The pullingup movement can first complete the toggling process, e.g., completingthe activation process if the automatic locking mechanism is partiallyactivated, or completing the deactivation process if the automaticlocking mechanism is partially deactivated. Since the automatic lockingmechanism is partially activated, pulling the pulling element cancomplete the activation process, locking the rotatable element, e.g.,the rotatable element is not free to rotate with respect to the body.With the rotatable element not free to rotate, the jaws can also fixedat the maximum separation.

Further pulling on the pulling element cannot rotate the rotatableelement, thus keeping the jaws separated at the maximum separationdistance.

In FIG. 29B(d), the pulling element can be further pulled up, forexample, by the hoist that is coupled to the pulling element. Since theautomatic locking mechanism is activated, pulling the pulling elementcannot rotate the rotatable element, thus the jaws are still separatedat the maximum separation, e.g., the previous separation when theautomatic locking mechanism is activated. The clamping device can belifted up. Since the jaws are separated, the object can be left on theground, and the empty clamping device with the open jaws can be move toanother location to pick up another object.

The process can be continued, e.g., with moving the empty clampingdevice to approach an object for pick up.

1. An automatic locking mechanism for a clamping device, comprising afirst element, wherein the first element comprises one or more annularelements, wherein the one or more annular elements comprise multiplefirst teeth arranged around the one or more annular elements, whereineach first tooth of the multiple first teeth comprises a first valleyarea formed with a neighbor first tooth and a first slanting surfacerising from the first valley area, wherein the one or more annularelements comprise multiple second teeth arranged around the one or moreannular elements, wherein each second tooth of the multiple second teethcomprises a second valley area formed with a neighbor second tooth and asecond slanting surface rising from the second valley area, wherein thefirst and second multiple teeth are spaced apart at a fixed distance; asecond element, wherein the second element is disposed in the one ormore annular elements of the first element, wherein the second elementcomprises at least a protruded element for interfacing with the firstand second slanting surfaces, wherein the interfacing of the at least aprotruded element with the first and second slanting surfaces isconfigured so that under a first force causing the at least a protrudedelement to contact the first slanting surface, the at least a protrudedelement moves along the first slanting surface to rest at the firstvalley area, which causes the second element to rotate a first angle ina rotating direction, wherein the interfacing of the at least aprotruded element with the first and second slanting surfaces isconfigured so that under a second force causing the at least a protrudedelement to contact the second slanting surface, the at least a protrudedelement moves along the second slanting surface to rest at the secondvalley area, which causes the second element to rotate a second angle inthe rotating direction.
 2. An automatic locking mechanism as in claim 1,wherein a combination of the first angle and the second angle toggles ahook end of the second element between a separatable configuration and acoupling configuration with a hookable element, wherein in theseparatable configuration, the hook end is separatable from a hookableelement, wherein in the coupling configuration, the hook end is coupledto and not separatable from a hookable element.
 3. An automatic lockingmechanism as in claim 1, wherein the second element comprises a hookend, wherein the hook end comprises an elongated latch, wherein thehookable element comprises parallel hooks facing each other, wherein thesecond element is configured to be in a separatable configuration withthe hookable element when the elongated latch is parallel with theparallel hooks, wherein the second element is configured to be in acoupling configuration with the hookable element when the elongatedlatch is perpendicular to the parallel hooks.
 4. An automatic lockingmechanism as in claim 1, wherein a first slanting surface forms anon-zero angle with a facing second slanting surface.
 5. An automaticlocking mechanism as in claim 1, wherein the multiple first and secondteeth are arranged around an axis of rotation, wherein the multiplefirst and second teeth are configured so that when the at least aprotruded element moves in the direction of the axis of rotation tocontact a second slanting surface, after the at least a protrudedelement moves along a first slanting surface to the first valley area tocause the second element to rotate the first angle in a rotationaldirection, the at least a protruded element moves along the secondslanting surface to the second valley area to cause the second elementto rotate the second angle also in the rotational direction.
 6. Anautomatic locking mechanism as in claim 1, wherein the first forcecomprises a gravity force, wherein the second force is generated whenthe clamping device is lowered to contact a ground object.
 7. Anautomatic locking mechanism as in claim 1, wherein the first elementcomprises a support feature for supporting the one or more annularelements against the first or second force.
 8. An automatic lockingmechanism as in claim 1, wherein the first element is coupled to a firstcomponent of the clamping device, wherein the first element or the firstcomponent comprises a support feature for supporting the one or moreannular elements against the first or second force.
 9. An automaticlocking mechanism as in claim 1, wherein the first and second slantingsurfaces comprise sections of helical curves around the annularelements, wherein tangent lines of the helical curves make an anglebetween 40 and 50 degrees with the axis of rotation of the one or moreannular elements.
 10. An automatic locking mechanism as in claim 1,wherein at least a tooth of the one or more first teeth and the one ormore second teeth is rounded or chamfered in a direction parallel to theangle of the facing slanting surface.
 11. An automatic locking mechanismas in claim 1, wherein at least a tooth of the one or more first teethand the one or more second teeth comprises an abrupt surface, whereinthe abrupt surface is between a peak of the at least a tooth and avalley area of an adjacent tooth, wherein the abrupt surface forms anangle greater than zero with the axis of rotation of the one or moreannular elements.
 12. An automatic locking mechanism as in claim 1,wherein the clamping device uses a half scissor mechanism with at leasta stationary jaw coupled to a body, and at least a movable jaw coupledto a scissor arm, wherein the first element is coupled to a first arm ofthe scissor arm, wherein the second element is configured to be toggledbetween a separatable configuration and a coupling configuration with ahookable element, wherein the hookable element is coupled to the body orto a second arm of the scissor arm.
 13. An automatic locking mechanismas in claim 1, wherein the clamping device uses a slanting surfaceelement coupled to a scissor mechanism comprising two arm assemblies formoving two opposite jaws, wherein the first element is coupled to theslanting surface element or to a first arm of an arm assembly of the twoarm assemblies, wherein the second element is configured to be toggledbetween a separatable configuration and a coupling configuration with ahookable element, wherein the hookable element is coupled to a secondarm of the arm assembly of the two arm assemblies or to a third arm ofanother arm assembly of the two arm assemblies.
 14. An automatic lockingmechanism as in claim 1, wherein the clamping device uses a scissormechanism comprising two arm assemblies for moving two opposite jaws,wherein the first element is coupled to a first arm of an arm assemblyof the two arm assemblies, wherein the second element is configured tobe toggled between a separatable configuration and a couplingconfiguration with a hookable element, wherein the hookable element iscoupled to a second arm of the arm assembly of the two arm assemblies orto a third arm of another arm assembly of the two arm assemblies.
 15. Anautomatic locking mechanism as in claim 1, wherein the clamping devicecomprises a pulling element having a roller to roll on a slantingsurface element to move a movable jaw against a stationary jaw, whereinthe first element is coupled to the pulling element or to the roller,wherein the second element is configured to be toggled between aseparatable configuration and a coupling configuration with a hookableelement, wherein the hookable element is coupled to a body of theclamping device.
 16. An automatic locking mechanism for a clampingdevice, comprising a first element, wherein the first element comprisesa first annular element, wherein the first annular element comprisesmultiple first teeth arranged around the first annular element, whereineach first tooth of the multiple first teeth comprises a first valleyarea and a first slanting surface rising from the first valley area,wherein the first element comprises a second annular element, whereinthe second annular element comprises multiple second teeth arrangedaround the second annular element, wherein each second tooth of themultiple second teeth comprises a second valley area and a secondslanting surface rising from the second valley area, wherein the firstand second annular elements are spaced at a fixed distance andconfigured so that the multiple first teeth face the multiple secondteeth, a second element, wherein the second element is disposed in thefirst and second annular elements of the first element, wherein thesecond element comprises a protruded element disposed between the firstand second slanting surfaces of the first element for interfacing withthe first and second slanting surfaces, wherein the interfacing of theprotruded element and the first and second slanting surfaces isconfigured so that under a first force causing the protruded element tocontact the first slanting surface, the protruded element moves alongthe first slanting surface to rest at the first valley area, whichcauses the second element to rotate a first angle in a rotatingdirection, wherein the interfacing of the at least a protruded elementand the first and second slanting surfaces is configured so that under asecond force causing the protruded element to contact the secondslanting surface, the protruded element moves along the second slantingsurface to rest at the second valley area, which causes the thirdelement to rotate a second angle in the rotating direction.
 17. Anautomatic locking mechanism as in claim 16, wherein the first elementcomprises a sleeve configured to house the first and second annularelements, wherein the sleeve comprises a support feature for supportingthe first or second annular element against the first or second force.18. An automatic locking mechanism as in claim 16, wherein the first andsecond annular elements are spaced a distance to provide a minimumclearance for the at least a protruded element moving along the first orsecond slanting surface, wherein the minimum clearance is less than 5mm.
 19. An automatic locking mechanism for a clamping device, comprisinga first element, wherein the first element comprises an annular element,wherein the annular element comprises multiple first teeth arrangedaround the annular element, wherein each first tooth of the multiplefirst teeth comprises a first valley area and a first slanting surfacerising from the first valley area, wherein the annular element comprisesmultiple second teeth arranged around the annular element, wherein eachsecond tooth of the multiple second teeth comprises a second valley areaand a second slanting surface rising from the second valley area, asecond element, wherein the second element is disposed in the annularelement of the first element, wherein the second element comprises twoprotruded elements sandwiching the first and second slanting surfaces,wherein the two protruded elements and the first and second slantingsurfaces are configured so that under a first force causing a firstprotruded element of the two protruded elements to contact the firstslanting surface, the first protruded element moves along the firstslanting surface to rest at the first valley area, which causes thesecond element to rotate a first angle in a rotating direction, whereinthe two protruded elements and the first and second slanting surfacesare also configured so that under a second force causing a secondprotruded element of the two protruded elements to contact the secondslanting surface, the second protruded element moves along the secondslanting surface to rest at the second valley area, which causes thesecond element to rotate a second angle in the rotating direction. 20.An automatic locking mechanism as in claim 19, wherein the two protrudedelements are spaced a distance to provide a minimum clearance for aprotruded element of the two protruded elements when the other protrudedelement of the two protruded elements moves along the first or secondslanting surface, wherein the minimum clearance is less than 5 mm.